Research Of Synchronization Control Strategy And Control Method For Multi-axis Servo Motor

In order to meet the increasing production demand,the multi-motor synchronization control technology has been applied to paper making,printing,textile,metallurgy,CNC machine tools,traffic rail and other fields.The performance of synchronous control directly affects the production indicators.Therefore,the research of synchronization control strategy and control method for multi-motor has practical application value.Permanent magnet synchronous motor(PMSM)has excellent speed regulation performance.In this thesis,PMSM is taken as the controlled object to study the fourmotor synchronization control system.The main research contents are as follows:Firstly: the design and construction of four-motor synchronization control platform are completed from the mechanical and electrical aspects: The mechanical part mainly includes the construction of the motor track and the installation of the motor;the electrical part includes the drawing of the electrical schematic diagram of the control system,the layout of the electrical control cabinet and the actual wiring installation,etc;Secondly: the excellent dynamic performance of a single motor is the basis of synchronization control of multi-motor.Therefore,this thesis studies the control of a single motor using vector control method,builds a vector control system model,and studies the application of control algorithms in the current loop and speed loop respectively.Through continuous optimization of the algorithm,the controller designed by internal model decoupling control algorithm is applied to the current loop,the controller designed with fuzzy internal model PID and integral separation control algorithm is applied to the speed loop.The simulation results show that the control algorithm is effective and the single motor has excellent dynamic performance;Thirdly:the thesis studies the multi-motor synchronization control strategy.For the common synchronization control strategies,the four-motor synchronization control system is established respectively,and the simulation model is built in Matlab/Simulink.Through the horizontal comparison of synchronous control accuracy,the characteristics of each synchronous control strategy are summarized.Finally,the virtual master shaft synchronization control strategy is confirmed to be the most suitable scheme for fourmotor synchronization control.Aiming at the structure of the virtual master shaft,the feedback torque of the slave shaft is improved in this thesis.The simulation results verify the effectiveness of the improved method and further improve the performance of the four-motor synchronization control.