Research On Control Algorithms Of DC Motor Based On Cooperative Theory

In the industrial automation production system,multi-motor cooperative control is widely used,such as robot control system and elevator system.In many systems,the quality of products is closely related to the performance of collaborative control.If only the traditional control mode is used,the requirements of high-performance cooperative control cannot be met.Therefore,it is very important to study the cooperative control of multi-motor system,which has been widely concerned by people and has a broad development prospect.In this paper,the cooperative control system of three BLDCM is studied.Based on the theory of deviation coupling control and fuzzy control,an improved deviation coupling multi-motor cooperative control strategy based on Fuzzy PID control is proposed,the corresponding control algorithm is designed,and the detailed simulation analysis is carried out.The specific work contents are as follows :.Firstly,taking the control system of BLDCM as the research object,the structure,mathematical model and spatial state model of BLDCM are analyzed deeply,and the double closed-loop control scheme of BLDCM is established.Then,the classification,concept and performance parameters of multi-motor cooperative control system are described.For several common cooperative control structures of multi-motor system,the tracking error and synchronization error is simulated and analyzed to find out their advantages and disadvantages,and provide theoretical guidance of the next research work.Secondly,in the multi-motor cooperative control system,combined with the influence of single motor on the control accuracy of the system,and adopt the corresponding fuzzy control strategy.The design concept of fuzzy PID controller is proposed,and at the same time,the simulation operation is realized based on Matlab/Simulink.Simulation research shows that,compared with the use of ordinary PID control and traditional fuzzy PID control,the use of improved fuzzy PID control can make each motor have better system performance.Finally,on the basis of ensuring the control precision of a single motor,an improved deviation-coupled multi-motor cooperative control strategy for fuzzy PID control is proposed.Using deviation coupling control,multiplying the speed feedback coupling gainand the speed deviation of the traditional speed compensator to build an improved deviation coupling multi-motor cooperative control architecture based on fuzzy PID control,the design concept of the multi-motor cooperative controller is proposed,based on Matlab/Simulink Under the conditions,a series of simulation studies were realized.According to the simulation results obtained,compared with the control performance of the multi-motor system of the master-slave control,it is found that the improved deviation coupled multi-motor cooperative control strategy of fuzzy PID control can improve the control performance of the multi-motor system.In this paper,the research of DC motors / motored control algorithm based on cooperative theory lays a good theoretical foundation for the application of high-precision cooperative motor control system.