Research On Synchronous Control Of Multi-motor Servo System

With the increasing complexity of the industrial environment,more and more multi-motor systems are used in industrial production,and at the same time,higher requirements are imposed on the control accuracy of multi-motor systems.This is mainly because: when multiple motors share the load,such as conveyor belts and lifting equipment,the synchronization error of the motor will cause uneven load distribution and mechanical loss,etc.;in the case of multi-motor cooperation such as textile and processing,the motor error will directly affect To product quality.Therefore,it is of great significance to adopt certain strategies to improve the synchronization performance of multi-motor systems.In the traditional multi-motor control research and implementation,the PI controller and synchronous control strategy are often combined.However,due to the limited bandwidth of the PI controller,weak anti-disturbance,and small speed adaptation range,the performance of the multi-motor control system is relatively weak.The performance of the multi-motor system is greatly affected by the synchronization loop controller.Therefore,in order to improve the performance of the multi-motor system,this paper proposes an improved adaptive disturbance rejection control algorithm.Regarding the algorithm,this paper based on the state space model of the permanent magnet synchronous motor position servo system,combined with the theory of active disturbance rejection control,explained the physical meaning of the parameters in the active disturbance rejection control,and better solved the parameters of the active disturbance rejection control algorithm,which is not easy to adjust the parameters;In addition,in combination with the characteristics of the permanent magnet synchronous motor position servo system,the second-order expansion observer is optimized,which makes the observation accuracy significantly improved,and greatly reduces the difficulty of implementing the ADRC algorithm engineering.Combining this algorithm with various commonly used synchronization strategies for matlab / simulink simulation and experimental verification,it proves that the algorithm significantly improves the performance of multi-motor systems compared to traditional PI controllers.In addition to theoretical research,this article briefly introduces the design and implementation of the multi-motor system used in this article.This system uses DSP and FPGA as the upper and lower computers respectively.Among them,the DSP realizes the position synchronization loop of the multi-motor system,the FPGA implements the parallel vector control of the multiple motors,and the distributed system communication is realized through the CAN protocol.Finally,the system is applied to the uncoupled screw structure.The no-load and on-load experiments have proved the superiority of the multi-motor control algorithm proposed in this paper.