Research On Multi-motor Synchronous Control In High Speed Flexible Transmission

With At present,at home and abroad,the small caliber naval gun mainly adopts the flexible "chain supporting projectile" mode to complete the medium and long-distance ammunition transportation in the soft guidance.The traditional way of ammunition supply still uses manual handling,multi person coordination and manual hand shaking to drive the magazine drum movement to supplement ammunition,which is time-consuming and laborious.In this paper,the full electric drive method is used to complete the design of the ammunition replenishment system automation.By using multi motor synchronous drive at the ammunition conveying end and ammunition delivering end respectively,the manpower demand can be greatly reduced and the rapid response of ammunition replenishment can be improved.Each motor is coupled by a flexible elastic chain in the working process.When the motor is running at low speed,the load fluctuation is small,and the servo drive system is easy to match with the load characteristics,which can ensure that the servo system can get the same position,speed and current output under the same control command.However,in reality,different drives or motors have the characteristics of parameter discreteness,and in the running process Due to the high-speed movement of ammunition,the unfixed load,the unbalanced output torque between multiple motors,the large gap,empty return of the transmission system and the large deformation of the spring chain,etc.,which will lead to the large speed difference between motors receiving the same command,the accumulation of errors will lead to the deformation of the spring chain,and in serious cases,it will lead to the stagnation of the ammunition supply.In this paper,the shortcomings of the automatic ammunition feeding system are studied.In the high-speed flexible transmission,the synchronous control of multiple motors is adopted by using BP neural network PID control.The position,speed information and current change trend of the motor output are controlled by cross coupling through speed adjustment to reduce the requirements and limitations of the desired trajectory curve.The transmission is restrained by the synchronous and asynchronous coupling motion of the motor on the corner The accumulation of dynamic clearance causes the tension and tightness of the transmission chain.Firstly,this paper analyzes and designs the measurement and control system of high-speed flexible elastic chain,calculates the motor power based on the load moment of inertia matching,analyzes the kinematic characteristics of the flexible elastic chain,establishes its mechanical model and dynamic equation,analyzes its meshing impact effect,and analyzes a variety of coupling control structures,establishes the single permanent magnet synchronous motor model in the Simulink environment Based on the load characteristics of the high-speed ammunition replenishment system,the deviation coupling control strategy is improved,and the BP neural network control algorithm is applied to the high-speed ammunition replenishment system.Finally,the high-speed flexible control strategy is built In the actual engineering test,the speed information and current trend of each motor are collected by the servo driver,and the read information is taken as the feedback of the system,which is collected,processed and calculated by the controller As the input of motor command,the feasibility of the algorithm is verified by engineering test.