Research On Multi-motor Synchronous Control Strategy Based On Slaughtering And Processing Production Line

With the progress of society and the improvement of people's living standards,the demand for meat products is increasing,and the slaughtering and processing industry has begun to develop rapidly.As a key facility in meat processing,slaughtering production line is very important to the efficiency of meat processing.Aiming at the problems of low automation level and poor synchronization performance of slaughtering production line at present,this thesis designs a motor control method based on model predictive control and discusses the synchronization control strategy by exploring the drive system of production line and the synchronization control technology.The main contents of this thesis are as follows:(1)The overall design of the system.After investigation and research,the application background and technological process of the production line system are determined,and the synchronous control requirements and functions of the system are analyzed.We select PLC as the core control unit of the system,and combined with the working principle and characteristics of PLC controller,the overall design of the hardware structure and software functions of the production line system is carried out.(2)Software and hardware design.In terms of hardware,cpu226 and expansion module are selected as the main control unit,incremental encoder as the information acquisition equipment,the model of driving motor is determined through formula calculation,and the circuit design of hardware equipment is completed;in terms of software,the control program of the system is designed based on PLC platform,and the operation interface of the upper computer is arranged;finally,the software and hardware of the control system are built and tested,and the results show that the control system is running well.(3)Research on model predictive control(MPC).Firstly,we analyzed the mathematical model of permanent magnet synchronous motor;Then we used the MPC theory to improve the control structure of the controlled object,derived the predictive equations of the speed loop and the current loop,and analyzed their output results;Finally,the output signal of the speed loop and the input signal of the current loop are combined to form a cascade MPC structure,and the simulation model was used to verify the effect of the predictive algorithm.(4)Improvement of synchronous control structure.Based on the traditional synchronous structure,the cascade predictive structure was used to replace the original double PID,and the speed synchronous compensator was designed to adjust the speed difference of the production line system;Aiming at the load disturbance problem,an extended state observer(ESO)was designed to estimate the load variation in the operation process,which improved the anti-disturbance and robustness of the synchronous control system.