Study of Multi-motor Synchronous Operation Based on Sliding Mode Virtual Spindle Adjacent Cross-coupling Control

Rui Zhang; Yan Xia; Yang Chen; Kai Yang; Huizhu Li; Zetao Feng

doi:10.54097/0kzxe432

Authors

Rui Zhang
Yan Xia
Yang Chen
Kai Yang
Huizhu Li
Zetao Feng

DOI:

https://doi.org/10.54097/0kzxe432

Keywords:

Permanent magnet synchronous motor, Multi-motor control, Virtual spindle control, Adjacent deviation coupling control, Sliding mode control.

Abstract

Aiming at the problems of uneven parameter differences and load torque distribution, which cause the tracking accuracy and synchronization performance of the multi-motor control system to be reduced, a multi-motor system control strategy with sliding mode virtual spindle adjacent cross-coupling control is proposed. First, the feedback torque of each motor is regulated by establishing a virtual spindle to improve the coordination of the system. Secondly, a speed compensator is designed to couple each motor to improve the system synchronization. Meanwhile, the sliding mode control strategy is used for the control of a single motor. The robustness and tracking accuracy of the system are tuned up. The simulation experiment results show that compared with the sliding mode cross-coupling control, sliding mode adjacent deviation coupling control, and PI virtual spindle-adjacent deviation coupling control, the system has a small synchronization error, strong anti-interference ability, and realizes high-precision coordinated control of multiple motors.

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