Research On High-precision Dual-axis Position Coordination Control Strategy Of Permanent Magnet Synchronous Motor

With the rapid development of modern industrial technology and the introduction of strategies such as Made in China 2025 and Industry 4.0,dual-motor to multi-motor joint control production has become a manufacturing trend.However,with the development of the concept of integration,systematization,and integration of industrial production in the field of intelligent manufacturing,various control performance indicators of the production system are getting higher and higher,and the design of the control system has become more complex.Therefore,this paper aims at the most widely used dual-motor joint motion scenario: the spindle motor moves at a uniform speed,and the positional response and poor coordination performance exist in the variable-speed reciprocating motion of the slave-axis motor following the spindle motor.The design and research of the high-precision two-axis position coordination control system of permanent magnet synchronous motor are carried out by combining the two aspects of motion law.Firstly,this paper explores the parameter setting method of the PI regulator of the current control loop and the speed control loop of the servo system and the influence of the current loop cross-coupling voltage,designs the voltage decoupling compensation structure,and verifies the feasibility of the method through simulation.Then,on the basis of the above optimization design,with the aid of the single-degree-of-freedom defect and the basic principle of two-degree-of-freedom,the parameter setting methods of the speed loop and position loop compensator are analyzed,and the influence of the introduction of the inner and outer loop compensators on the system performance is explored.The effectiveness of the design of the two-degree-of-freedom compensator is verified by simulation and actual measurement.Then,combined with the most widely used dual-motor joint motion requirements in actual working conditions,this paper proposes two dual-axis position coordinated control strategies,dual-speed trajectory planning and dual-position trajectory planning,according to the joint motion law of the master-slave motor and the motion control theory..The dual-speed trajectory planning strategy is divided into two control stages,high-speed response and low-speed approaching,according to the speed relationship of the master and slave motors,respectively,which compensates the defects of the system’s rapid response and insufficient coordination accuracy;the dual-position trajectory planning strategy is based on The relationship between the motion position of the master and the slave motor is established,and the position coordinate system is established.After further analysis,the mathematical expression parameters of the biaxial position curve are determined,and the performance problem of the biaxial position coordinated control is solved through the corresponding command control.Finally,the feasibility of two different position coordination control strategies is verified in the simulation and experimental platform,and the actual performance difference of the system under the two different position coordination strategies is compared and analyzed.In this paper,the research work on the high-precision dual-axis position coordination control system of permanent magnet synchronous motor for a dual-motor joint motion scene in the industry has achieved certain results in practical tests,which can be extended to the application of multi-motor joint motion control.It provides a theoretical basis and reference for the subsequent multi-axis linkage intelligent manufacturing industrial control.