Research On Coordinated Control Of Multiple Linear Switched Reluctance Motor Lifting Platform Based On Force Compensation Scheme

With the launch of "made in China 2025" strategy,the manufacturing industry which replaces manpower with mechanical equipment inevitably enters a new stage of development.As a vertical movement mechanical device,the lifting platform will play an important role in modern industry,manufacturing industry and other fields.The lifting platform with high precision,high stability and high reliability has become the mainstream development trend.The traditional lifting platform confronts with the problems of poor control precision,slow speed,high energy consumption and potential safety hazard in practical application,which is difficult to meet the needs of modern industrial production.The lifting platform based on asymmetric bilateral linear switched reluctance motor(ABLSRM)has the advantages of strong reliability,high precision,fast response speed,which conforms to the development trend of the times.With the expansion of the lifting scale,the continuous improvement of the mechanical structure and anti-load capacity of the motor,the driving capacity of a single motor has been unable to meet the actual needs,and gradually changed from a single motor to multiple motors.In this paper,several ABLSRM are used to control the lifting platform through cooperative topology,the multiple ABLSRM can move cooperatively to realize the lifting movement of the lifting platform.The use of multiple motors not only makes up for the drive capacity of single motor,but also improves the control performance of the whole system.Cooperative topology is a key factor affecting the synchronization performance of multi ABLSRM lifting platform.Aiming at the communication topology that does not take into account the overall motion state of each motor,a control algorithm based on position coupling compensation is proposed.In order to improve the synchronous control accuracy of the lifting platform,a force compensation control algorithm is proposed to improve the overall performance of the lifting platform.This paper introduces the basic structure,mathematical model,working principle of ABLSRM and the lifting platform composed of three ABLSRM.The position control system of single motor was built on semi-physical simulation controller RT-lab,and the control performance of single motor is tested by experiment.Then,the model design and stability analysis of the multi-motor system are carried out,and two communication topologies are proposed.Then,a position coupling compensation algorithm based on multi ABLSRM is proposed and tested for the communication topology that does not take into account the overall motion state of each motor.The experimental results show that the overall synchronization error of the lifting platform is reduced from 0.4 mm to 0.23 mm by introducing the position coupling compensation algorithm,which improves the synchronization accuracy of the lifting platform.Since the load gravity will cause the synchronous performance of the lifting platform to deteriorate,a force compensation algorithm is proposed and the corresponding experiment is carried out.The experimental results show that the overall error of the lifting platform is reduced from 0.8 mm to 0.6 mm under the load state by introducing the force compensation algorithm,which can effectively improve the influence of the load gravity on the lifting platform.Finally,the research work is summarized and the future work is described.