Research On Collaborative Control Of Multiple Permanent Magnet Linear Synchronous Motors

With the merits of simple mechanical structure,small size,light weight,high thrust density and fast speed response,the permanent magnet linear synchronous motor(PMLSM)is widely utilized in industrial fields.Since modern manufacturing like parts processing and assembling usually requires multiple actuators working coordinately to complete some complicated tasks,the coordination of multiple linear have received great attention among scholars and institutions recently.The communication topology and information interaction plays a significant role in the coordination performance of the control system.In this paper,some experiments are conducted on a three-PMLSM-based coordination motion control system to investigate the effect of different network topologies on the tracking performance between PMLSMs.In addition,an adjacent cross-coupling coordination algorithm is presented and utilized in the control system to improve the overall coordination performance.This paper firstly introduces PMLSM on its basic mechanical structure,working principle,mathematical model and some common control schemes,and then discusses how to establish a three-PMLSM-based coordination motion control system on the RT-LAB platform in detail.Considering the fact that the tracking performance of single PMLSM affects the coordination performance between multiple PMLSMs directly,a self-tuning fuzzy PID controller is designed to improve the tracking performance of single PMLSM.Under the fuzzy PID controller,the tracking accuracy of single PMLSM have gone up 25% compared with the conventional PID controller.Some experiments are also performed on the multiple motors control system under the chain topology and tree topology.In chain topology,the tracking error between the reference signal and the feedback signal accumulates gradually and that of the last node is about to reach the biggest.In the tree topology,the slave nodes almost share the same tracking error because all the slave nodes have the same positon in the coordination network.In order to solve the problem of no information interaction between PMLSMs,an adjacent cross-coupling coordination algorithm is presented and utilized in the three-PMLSM-based coordination motion control system.Experimental results demonstrate that the coordination error between the adjacent motors goes down from 0.3mm to 0.25 mm,with the coordination accuracy 15% up.