Research On Multi-motor Cooperative Control Strategy And Application

Multi-motor cooperative control has always been at the core position in the field of motion control,and has set foot in fields such as printing,textiles,robots,CNC machining centers,and automobiles.With the improvement of the level of industrial automation and the sharp demand for high product quality and high standards from the market,the evaluation criteria for control performance has rapidly incre ased.At present,multi-motor cooperative control systems are becoming more and more complicated such as non-linear,strong coupling,high-order,time-varying,multi-variable,etc.Traditional collaborative control strategies and methods are becoming more and more unable to cope with the rapidly growing demand in practical applications.Therefore,it is urgent to improve the cooperative control performance,improve the precision and stability of the collaborative control,etc,which has very necessary pract ical significance and practical value.This work focuses on the optimization and improvement of algorithms and structures in cooperative control,aiming at the problems that the existing multi-motor cooperative control strategies cannot meet the needs of m odern industrial automation development,such as low precision,insufficient stability,and weak anti-interference and robustness.The main research contents are as follows:(1)Aiming at the problem that PID contro l algorithm,which is widely used in motor contro l,is difficult to obtain good contro l effect under the cont inuous improvement o f modern industrial auto matio n product ion process requirements,co mbined with the crowd search algorithm,a chaos adaptive PID parameter self-tuning algorithm based on the improved crowd search algorithm is proposed,which avoids the disadvantages o f early trial-and-error method to adjust parameters.The algorithm is improved by using the random variation method o f inert ia weights,the proposed boundary reflect ion strate gy,and the introduct ion of Logist ic chaos,which so lves the problems of premature and local convergence o f standard algorithms and improves the global opt imizat ion abilit y of the algorithm.A simulat ion model was built on the Mat lab platform,and the expe rimental conclusio ns show that the improved PID contro ller has faster dynamic response capabilit y,higher steady-stat e accuracy,stronger robustness and ant i-interference abilit y.(2)In view o f the fact that the exist ing co llaborat ive contro l schemes are increasingly unable to cope with the rapidly increasing demand in pract ical applicat ions,based on the deviat ion coupling contro l strategy and co mbining the sliding mode variable structure contro l ideas,this paper proposes a mult i-Motor Coupling Contro l Strategy based on improved integral sliding mode.Ut ilizing the improved variable-speed approach rate,the convergence speed and accuracy of the sliding mode funct ion are improved,and the qualit y o f mot ion is improved;the tradit ional deviat ion coupling co ntro l structure is improved,and the system feedback signal is direct ly applied to the current loop,which improved system after being disturbed by external uncertaint ies,the dynamic tracking performance,fast recover y response capabilit y and overall sync hronizat ion performance o f each motor unit.And use Lyapunov equat ion to analyze the stability of the system.Finally,a mult i-moto r co llaborat ive contro l system simulat ion model co mposed of three permanent magnet synchronous motors was built on the MATLAB plat form,which confirmed the correctness and effect iveness o f the design method o f this research.(3)A mult i-motor co llaborat ive contro l experimental hardware platform was established with the PCI-8258 mot ion control card as the core,and the underlying contro l program and UI interface o f the system were developed wit h LABVIEW as a so ftware too l.On the basis o f realizing the basic funct ions o f the mot ion contro l system,a user login module with an ACCESS database as the core is designed to store user operat ion informat ion.Finally,the experimental plat form is tested and verified,which proves the effectiveness o f the control system and provides useful reference value for the subsequent experimental research o f mult i-motor cooperat ive contro l.The research shows that the designed method strategy has certain guiding and reference significance for the structure and algorithm research o f mult i-motor cooperat ive contro l system.Fo llow-up should pay attent ion to the cross-coordinated contro l of speed,torque and posit ion and the coordinated contro l o f inconsistent motor parameters.