A multi-motor cooperative control method, system and device

Abstract

The invention discloses a multi-motor cooperative control method, system and device, which adopts a nonlinear PID control structure, which not only preserves the simple structure of the traditional PID controller, but also has the advantages of not depending on the specific model of the object, and being independent of external disturbances and system parameters. The change has the characteristics of strong anti-interference ability, which improves the stability of the system, makes the multi-motor cooperative control effect better, and can be applied to more complex working environments; moreover, when the motor of a certain axis is disturbed by the outside, Other motors can be adjusted in time, thereby overcoming the hysteresis problem of multi-motor following. In addition, this application provides a speed compensation value for each motor in the system based on the synchronous speed error between the motors in the system, thereby improving the response speed and control accuracy of the system.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a multi-motor cooperative control method, system and device. Background technique [0002] In many production and processing fields, the application of multi-axis motion cooperative control system is gradually widespread. In addition to the need to complete the single-axis tracking target, the multi-axis motion cooperative control also needs to introduce the motion information of other axes in real time according to the kinematic relationship between the axes required by the actual production task to adjust the motion of the current axis. The coordination of axis motion and the goal of achieving multi-axis coordination accuracy. [0003] The performance of coordinated operation among multiple motors in a multi-axis motion cooperative control system directly affects the reliability and control accuracy of the system. At present, the traditional PID (proportion-integral-...

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Problems solved by technology

[0003] The performance of coordinated operation among multiple motors in a multi-axis motion cooperative control system directly affects the reliability and control accuracy of the system. At present, the traditional PID (proportion-integral-differential, proportional-integral-differential) controller Coordinated control of axis motion still occupies a dominant position. However, the traditional PID structure is relatively simple, and the anti-interference ability is weak, which makes the stability of the system easily affected. In addition, when the motor of a certain axis is disturbed by the outside world, other motors cannot be adjusted in time, and there is a certain hysteresis

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