| With the continuous innovation and development of industrial technology,the control of single motor in industrial production has been unable to meet the needs of modern industrial development.In many fields,multiple motors are required to cooperate with each other to complete the production practice.It has become a hot topic about synchronous control of multi-motors in research and application.At present,the multi-motor collaborative control tends to be nonlinear,strong coupling,time-varying,high-order and multi-variable development.Meanwhile,the multi-motor synchronous control has poor anti-interference ability,the system is difficult to quickly recover the initial value when disturbed by the external interference,and the tracking performance is poor.the multi-motor synchronous control has poor anti-interference ability,the system is difficult to quickly recover the initial value when disturbed by the external interference.It focuses on the single motor vector control,multi-motor coupling structure under the collaborative control,how to stabilize the rapid response in the case of external disturbance and self-disturbance.The main research contents are as follows:In order to solve the problem of poor control quality of single motor with fixed control parameters and external disturbance under conventional PID control,the active disturbance rejection controller strategy is adopted to suppress parameters or external disturbance and artificial bee colony algorithm is used to optimize the parameters of active disturbance rejection controller to obtain the optimal control performance.Through experiment comparison and simulation,it can be seen that the improved control strategy has good stability performance and fast response performance,and the motor system’s robust performance and anti-interference ability are also enhanced.It is the foundation for the study of multi-motor synchronous control.Aiming at the compensation strategy of multi-motor speed synchronous control,the cross-coupling strategy and deviation coupling strategy are adopted to control the synchronous control with three motors in normal operation and external disturbance in terms of the low precision of linear coupling structure control in speed compensator.Based on the cross-coupling strategy,the pairwise coupling control structure is established and the adaptive sliding mode control is introduced to enhance the stability of multi-motor control effectively.The velocity compensator of deviation-coupled takes a normal evaluation function after analysis and testing It reduces the synchronization error between each motor in the system and improves the anti-interference ability of multi-motor system. |
