| Multi-motor shaftless drive systems are widely used in printing,metallurgy and other manufacturing fields.Having good synchronization performance is the key to ensure product accuracy and quality of multi-motor systems.Therefore,using advanced synchronous control technology to improve the synchronous control performance of multi-motor system has always been a focus of application and research in this field.At present,although many achievements have been made in the application and research of synchronous control technology,it is still of profound theoretical significance and important application value to continuously explore the research of advanced synchronous control strategy and technology for those multi-motor control system which requiring high precision synchronous control performance.The technology of synchronous control of multi-motor shaftless drive system is studied in this paper.Aiming at the problem of speed synchronization error between motors,advanced control technology of active disturbance rejection and compensation dynamic strategy of synchronization error based on fuzzy control are applied to improve synchronization performance of multi-motor system.The main research work is as follows:By referring domestic and foreign literature,the application research of multi-motor synchronous control system in synchronous control structure and the research of synchronous control algorithm adopted are reviewed and analyzed.The technology of shaftless drive,concepts of synchronization control and evaluation indexes of synchronization performance for multi-motor synchronization control system are summarized.Aiming at the synchronous problems of multi-motor shaftless drive system during motor starting process,disturbance and steady-state operation,the causes and characteristics of synchronous error are analyzed respectively,which lays the foundation for further proposing synchronous control strategy.Through the analysis and simulation comparison of the decoupled synchronous control structure and the coupled synchronous control structure of the multi-motor system,the synchronous control structure scheme using adjacent cross-coupling is determined to adopt.Making each motor in the multi-motor system have good dynamic and steady-state performance is the basis to ensure good synchronization performance of the multi-motor system.In order to improve the control performance of single motor,the idea of linear active disturbance rejection control(LADRC)is proposed by applying control technology of active disturbance rejection for space vector pulse width modulation(SVPWM)vector control induction motor system.The simulation model of control system is established,and the design of LADRC controller of speed loop is given.In addition,in order to weaken the bad influence of the moment of inertia of the motor on the synchronization performance of the system in the starting process,the tracking differentiator(TD)module of LADRC is designed.The simulation modeling and research of SVPWM vector control system of asynchronous motor based on LADRC are completed.This strategy can make the motor have better following and disturbance rejection.The adjacent cross coupling synchronous control system of three motors is established.The influence of the compensation strength of the synchronous error compensator with adjacent cross coupling structure on the synchronous performance is studied.The dynamic compensation strategy based on fuzzy control is proposed.The design of the fuzzy compensator for the synchronous error is given.The simulation modeling and research of three motors adjacent cross coupling synchronous control system based on fuzzy dynamic compensation strategy of synchronous error are completed.The simulation results show that compared with strategy of fixed constant compensation,this strategy can reduce the synchronization error more effectively and improve the synchronization performance of the system.In addition,by adding TD module of LADRC speed controller,the synchronization error of the system in the starting process of motor is significantly reduced.The experiment platform of PLC control system for three motors is built.The application program of LADRC speed controller and fuzzy compensator for synchronous error is designed.The monitoring interface of configuration monitoring system is designed to observe the running status of system. |
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