Research And Control Of Multi-motor Synchronous Control System

As China's total economic output surpasses the United States as the world's largest economy in terms of purchasing power,comprehensively improving the automation of various industries has become one of the important directions for the overall efficiency of China's social economy.The increase in automation is bound to place higher demands on the complexity of individual devices and the synergistic performance of multiple devices.Therefore,the multi-motor synchronous control system with industrial fieldbus interface satisfies the development trend of multiple complex devices working together.Through the full investigation of related fields at home and abroad,a multi-motor synchronous control system based on CAN bus is designed.The system mainly consists of two parts: single motor driver and multi motor motion controller.Focusing on the multi-motor speed synchronization control algorithm under CAN bus,an optimization strategy considering the communication delay between single motor driver and multi-motor motion controller is proposed to improve the synchronization performance of network-based multi-motor control system.In order to evaluate the control algorithm performance of single motor driver and multi-motor motion controller,single motor control algorithm and multi-motor synchronous control algorithm are verified in MATLAB/Simulink respectively.The single-motor driver control method is constructed by using the space vector pulse width modulation(SVPWM)inverter control algorithm and the PI speed regulator based on the fuzzy control rule,which can effectively reduce the torque ripple.The system can still achieve strong anti-load disturbance performance while maintaining small torque ripple.The virtual spindle synchronous control algorithm capable of establishing a torque coupling relationship between single motor drives constitutes a multi-motor synchronous control strategy,which can improve the synchronous control performance of the system under load disturbance.In the system,the single motor driver adjusts the motor speed,and the multi-motor motion controller realizes synchronous operation of multiple motor speeds.The hardware circuit of the single motor driver includes: a control circuit,a driving circuit,and a detecting circuit.The single chip STM32F303 is selected as the control chip of the single motor driver.The SVPWM of the motor is calculated by the armature current and the rotor angle.the chip DRV8305 is selected as the gate drive circuit of the MOSFET.A encoder is used as the rotation speed detecting device of the motor.The hardware circuit of the multi-motor motion controller is composed of three parts: a control circuit,a communication circuit,and a human-machine interface circuit.The STM32F407 is selected as the control chip of the multi-motor motion controller.The electronic Line-Shafting control algorithm is used.The spindle speed has a certain function relationship with the slave shaft speed,and the spindle speed is calculated to control the speed of the slave single motor.The CAN bus is used as the communication circuit to construct a simplified version of the CANopen protocol stack,and the communication between the single motor driver and the multi-motor motion controller is realized according to the application layer CIA402 motion control system protocol.The human-machine interface is formed by a small LCD screen and an interrupt button to realize monitoring of the system state and parameter modification.The experimental results show that the system works well and meets the requirements of the project.