Study Of Synchronous Control Of Multi-Motor Positions

Multi-motor synchronous control has been in the main position in the field of drive control for a long time,in the multi-point printer,robot arm,hundred meters of rail lifting,robotics,machine tool processing,and a variety of automotive and other fields are involved in.As the level of industrial automation increases,the traditional multimotor synchronous control method has gradually failed to meet the work requirements.Therefore,it is particularly important to study how the system stability,multi-point coupling,and overall control accuracy can be improved in the multi-motor control performance.In this thesis,we propose a suitable control algorithm and structure for the existing crane control with some shortcomings in the realistic background of a 100 m rail crane and make targeted improvements to it.The main work is as follows:(1)For the problem of unstable single motor control effect,Non-singular Fast Terminal Sliding Mode Control(NFTSMC)algorithm is designed,and an NFTSMC speed controller is built based on this algorithm,which reduces the starting time of the motor and enhances the anti-disturbance of Permanent Magnet Synchronous Motor(PMSM).(2)The conventional Deviation Coupling Control(DCC)structure is improved to address the problem of excessive anti-disturbance error among motors in multi-motor systems,which enhances the coupling between multi-motor systems and reduces the anti-disturbance error between multi-motors.(3)To realize multi-motor position synchronization,the speed output in the original deviation-coupled speed control structure is integrated,so that the speed signal output is changed to the position signal output,and the input of the original speed compensator structure is changed to the position information of each motor for input so that it can compensate the position information in real-time,and then realize multimotor position synchronization.(4)To improve the synchronous control performance of the multi-motor control system,a multi-motor position synchronous control method based on the combination of NFTSMC and Improved Deviation Coupling Multi-motor Synchronous Control(IDCC)is proposed-NFTSMC+IDCC.The superiority of the NFTSMC+IDCC method is verified through a comprehensive simulation and comparison with other control methods.(5)The simulation model of multi-motor position synchronization control was built based on Data Simulation Software and simulated,the results show t hat the multi-motor synchronization control NFTSMC+IDCC method proposed i n this thesis has a good position synchronization effect,the position error of multi-motor position control system is reduced compared with other algorithms and control structures after being disturbed,the overall convergence of multi-m otor system is faster and more responsive,and the control performance is signi ficantly improved.The results show that the multi-motor position synchronization control method based on NFTSMC+IDCC has the advantages of short convergence time,fast transient response,small steady-state error,and high position tracking accuracy compared with other control algorithms and multi-motor position synchronization control structures,and stronger robustness,and provides a new control idea for the problems of unstable process control and the position of each motor cannot be synchronized with high accuracy in the industry.