Research On Multi-PMSM Cooperitive Control Based On Improved Deviation Coupling

Multi-motor synchronous control is an important research direction in the field of motor kinematics control,and is widely used in the electronic control drive of new energy vehicles,CNC industrial platform and robot intelligent collaboration.Since the Multiple motors synchronized control system is a nonlinear system in which multiple parameter variables are coupled to each other,the stability and control accuracy of multi-motor collaborative control are extremely important with the practical application and system working standards and the safety requirements of the industrial platform.When the motor movement is affected by factors such as external load disturbances,the speed control system speed fluctuates greatly.Therefore,to improve the accuracy of multi-motor synchronous control and the stability of control performance,whether the speed is timely feedback in the multi-motor synchronous system and whether the control structure is reasonable is very important for the improvement of synchronous control performance.In this paper,the synchronous error compensator in the traditional deviation coupling structure is improved,the improved synchronous error compensator can better combine the tracking error and synchronization error of multiple motors,and the increased speed comprehensive evaluation item can couple the speed between the four motors together,effectively avoiding the effect of the four motor speed differences on the compensation effect,making the speed compensation more accurate and improving the synchronous control effect.For the multi-motor synchronous control structure,whether it is the motor speed or position as the compensation amount,and its negative feedback to the speed ring controller,it is to compensate for the q-axis starting current,so that during the start-up process,multiple different motors have good synchronization performance.Therefore,it is also possible to improve the accuracy of single motor control by combining advanced algorithms from the speed ring controller and other aspects to improve the accuracy of multi-motor synchronization and the stability performance of synchronous control.to improve the stability and synchronous control accuracy of the multi-motor control system,in terms of single motor control,a single motor speed ring controller based on traditional PI,fuzzy adaptive PI and nonlinear ADRC control is designed,and multi-PMSM synchronous control is realized based on cross-coupling synchronous control structure,and the synchronization effect of each control algorithm is compared by simulation.Finally,in view of the problem of poor synchronization performance of multiple motors caused by outside disturbances and other factors,therefore,in order to improve the control performance of single motors and the immunity ability,this paper improves the single motor control algorithm in the synchronous control system of multiple motors,adopts the integral sliding mode surface,designs a new adaptive index approach law based on the integral sliding mode surface,and realizes the PMSM adaptive integral sliding mode speed ring controller design.In order to reduce the influence of load disturbance on the performance of the synchronous system,the new exponential approach law sliding mode disturbance observer based on the integral sliding mode surface is used to feed the observed system disturbance value into the PMSM speed ring controller in real time to improve the control performance of a single PMSM in the Multiple motors synchronized control system,and combined with the improved deviation coupling synchronous control structure,an improved deviation coupling synchronous control method based on NAIMC and SMDO is proposed.Finally,the experimental analysis is carried out,and the results show that the synchronous control method proposed in this paper can effectively ensure that the four motors have good synchronization performance,improve their ability to resist disturbances,and ensure the stability of multi-motor synchronization.