Speed Coordination And Tension Regulation Of Multi-motor Control Syste

The multi-motor control system can be divided into the multi-motor speed coordinated control system and the multi-motor winding system.Among them,the multi-motor speed coordinated control system needs to realize high-precision synchronous operation or proportional synchronous operation of multiple motor speeds.The multi-motor winding system needs to realize the accurate control of system tension.However,parameter perturbation and load disturbance can affect the synchronization performance and tension control accuracy of the system,and the tension control can also be affected by the change of motor speed and the coupling between tension and speed.Therefore,the research focus of this paper is to improve the synchronization performance and tension control accuracy of the multi-motor control system.The multi-motor speed coordinated control system based on the ring coupling structure is studied.For the requirement of system tracking performance,the compound control strategy of non-singular fast terminal sliding mode controller and disturbance observer is designed for single motor,and the observed value of disturbance observer is used to the feedforward compensation control.For the requirement of the system synchronization performance,the ring coupling structure is used to connect multiple motors,and the synchronization proportional coefficients are set at the input end of the each motor reference speed to enable the multiple motor speeds to run in proportion synchronization.Then,an active disturbance rejection compensator is designed for each motor according to the synchronization error relationship of the ring coupling connection structure,and the compensation signal is feedback to the current loop of each motor.The simulation results indicate that the designed control strategy can meet the requirements of the system tracking performance and synchronization performance.The multi-motor speed coordinated control system based on the average compensation structure is studied.For the problem of the traditional multiple motor connection structure complication,on the basis of the accurate speed control for single motor,first the average speed of multiple motors is calculated,then the speed of each motor is processed by averaging,finally,an active disturbance rejection compensator is designed for each motor according to the difference between them,and the compensation signal is feedback to the current loop of each motor.The simulation results indicate that the designed control strategy simplifies the connection structure between multiple motors and improves the synchronization performance of the system.The multi-motor winding system based on the tension observer is studied.For the coupling problem between the system tension and the motor speed,the controller is designed separately for the outer tension loop of the system and the speed loop of the motor.Firstly,the combination of switching function and adaptive sliding mode controller to control the tension loop of the system.The switching function can accelerate the system state converging to the sliding mode surface.Secondly,the speed loop of the motor adopts the non-singular fast terminal sliding mode controller,the current loop designs a backstepping controller with adaptive law,and the observed value of the adaptive law for parameter perturbation is used to the feedforward compensation control.Finally,a tension observer is designed to observe the tension value.The simulation results indicate that the designed control strategy enhances the anti-interference ability and robustness of the system,and realizes the system quick response.For the multi-motor speed coordinated control system,the compound control strategy of the non-singular fast terminal sliding mode and disturbance observer is adopted for single motor,the ring coupling structure and average compensation structure are adopted between the multiple motors respectively,and the active disturbance rejection compensator is designed to compensate the current loop of each motor.Compared with the traditional multi-motor coordinated control methods,the designed control methods improve the tracking performance and synchronization performance of the system.For the multi-motor winding system,under the premise of ensuring high-precision control for single motor,the switching function and adaptive sliding mode are combined to control the tension loop of the system,and the tension observer is designed.Compared with the traditional tension control methods,the designed control method improves the response speed and steady-state accuracy of the system,and the system has strong anti-interference ability.