Research On A Multi Motor Coordinated Control System

With the continuous improvement of industrial automation level,the use of single motor can not fully meet the needs of highly integrated and intelligent system.The application of multi motor coordinated control technology is more common in various fields.However,when there are multiple motors in the system at the same time and cooperative control is required,the control difficulty of multi motor system is greatly increased due to the following error and electromagnetic interference between motors.The paper mainly takes the multi motor coordinated control system as the research object.Aiming at the problem of complex parameter adjustment when using traditional PID control,the paper introduces the idea of fuzzy control.Also,human knowledge and experience are integrated into the controller in the form of language as the logic of the control system,which reduces the difficulty of parameter adjustment.And then based on the idea of vector control and fuzzy PID control,the simulation model of single motor control system is established in Matlab/Simulink and compared with PID control effect.At the same time,the simulation model of multi motor coordinated control system is established based on the single motor control.Then the three multi motor coordinated control strategies of parallel control,master-slave control and deviation coupling control are simulated and analyzed.The advantages and disadvantages of each control strategy are analyzed according to the simulation results.Finally,the paper selects CX5120 controller as the core to build a multi motor coordinated control hardware experimental platform.The paper uses Twin CAT3 software to write the control program in order to control the coordinated movement of four motors at the same time,displays the motor state information data in the form of curve in real time.Then the paper uses Twin CAT3 software to develop the upper computer software,establish the state display interface,parameter setting interface and data display interface in order to realize the humancomputer interaction function.During the operation of the system,the controller and servo driver transmit command information to each other to ensure the stable operation of the system.Experiments show that the multi motor coordinated control system designed in this paper meets the performance requirements of the system.