Research On Multi-motor Speed Cooperative Control Strategy

In recent years,with the continuous development of industry,the promotion of technological level has been constantly updated,more and more large-scale mechanical equipment can only rely on a single motor drive can not meet the requirements,this time it needs to be driven by multiple motors,synergy Control,run synchronously.At the same time,the demand index for various types of equipment for industrial production is rising.Therefore,the continuous improvement of the running performance of the multi-motor coordinated control system,the improvement of the accuracy of the cooperative control and the reduction of the synchronization speed error have significant significance both in theoretical research and in actual production.The research object of this dissertation is a speed coordinated control system composed of permanent magnet synchronous motors(PMSM).The research on the coordinated control speed among three permanent magnet synchronous motors is considered as the key research part of this paper.Based on the original deviation coupling structure,an improved deviation coupled velocity compensation structure is formed.This structure is combined with the sliding mode control to form a new cooperative control method.The work done in this article mainly includes the following aspects:1.Introduces the structure and control strategy of permanent magnet synchronous motor,then establishes the mathematical model of PMSM,Establish its basic equations and give speed control system;2.Several common types of multi-motor cooperative control structures are introduced,and their respective advantages are analyzed and explained.Then a new deviation coupling compensator was designed.Finally,Matlab/Simulink was used as a medium to build its simulation model.The core controller was a PI controller.After the simulation,the results were analyzed to check whether the proposed control structure was effective.;3.For the speed control system of PMSM,based on the purely exponential reaching law,combining the power function of the terminal attraction factor and the system state variable,a new approach law is proposed.Based on the new reaching law,a sliding law is designed.Module speed tracking controller,then an extended torque observer is proposed to control the single motor speed control system to verify the feasibility of the speed controller and extended torque observer.The vector control methodi_d(28)0used to determine the permanent magnet synchronous motor Dynamic performance;4.The simulation model of multi-motor cooperative control system is established in the MATLAB simulation platform,and then the simulation and analysis are performed.Then,the core algorithm of the controller is used to generate the C code that can be modified by using the automatic code generation technology of Matlab/Simulink as the medium.The results show that the control structure and control method proposed in this paper significantly improve the sliding mode approach speed,reduce chattering,and significantly improve the dynamic and static characteristics and robustness of the system.The effect of reducing the speed synchronization error between the motors is significant,and the time for synchronizing the speeds of the three motors is greatly shortened.