Research And Design Of Proportional Coordinated Control System For Multiple DC Motors

Multi-motor coordinated control system is widely used in textile,paper-making,printing and dyeing and other industrial processes.With the gradual improvement of product quality requirements,higher requirements are put forward for coordination performance of multi-motor system.Therefore,in order to improve the coordination performance of multi-motor system,this paper takes multi-DC brushless motor as the research object,aiming at the proportional coordination relationship of multi-motor system,deeply studies the practical multi-motor proportional coordination control technology.Firstly,an adaptive inverse sliding mode control algorithm for multiple motors based on nonlinear disturbance observer is proposed under the ring-coupled control structure.Nonlinear disturbance observer is used to observe and compensate the unmodeled dynamics and external load disturbance,which improves the anti-interference performance and coordination performance of the system and effectively reduces the chattering level of traditional sliding mode control.For the disturbance compensated system,an adaptive inverse sliding mode controller based on dynamic surface is designed.The first-order filter is used to calculate the derivative of the virtual control variable,which eliminates the differential expansion problem caused by the traditional inversion method in derivation of the virtual control,and avoids the complex high-order derivative of the coordination error in the ring-coupled control structure,which makes it difficult to obtain the control law.Then an adaptive law is designed to estimate the upper bound of disturbance observation error,and the estimation of the upper bound of the observation error is used as the final sliding mode switching gain to further reduce the chattering level of sliding mode control.Secondly,in order to verify the correctness of this algorithm,an experimental platform for proportional coordinated control of dual motors is built.According to the technical requirements of the system,the overall structure of the experimental platform is determined,and the selection and design of key components are completed.According to the overall structure of the experimental platform,the hardware design of the multi-motor proportional coordinated control system is completed by using TMS320F28335 as the controller and DRV8301 as the driving chip.According to the hardware system,a software development framework based on ?cos? operating system is designed.The operating system is transplanted on the controller and the board-level driver of the system is designed.Using the system service and multi-task programming framework provided by ?cos? operating system,theapplication layer software design is completed,the real-time performance of the system is improved,and the task synchronization and data synchronization among motors are realized.Finally,on the experimental platform,through step signal synchronization control experiment,sinusoidal signal synchronization control experiment,constant proportion coordinated control experiment,reverse synchronization control experiment and variable proportion coordinated control experiment,the correctness of the proposed multi-motor proportional coordination control algorithm is verified.