Multi-rotor linear motor synchronous control system

Abstract

The invention provides a multi-rotor linear motor synchronous control system provided by the invention, a virtual main shaft synchronous control technology is applied to the multi-rotor linear motor,so that the cooperative control performance of multiple rotors of the linear motor is improved; a linear expansion disturbance observer is adopted to observe disturbance in a slave rotor set, and compared with the scheme that the output value of a speed controller serves as the load resistance of each slave rotor, the feedback accuracy of the load resistance of the slave rotor is improved, and theinfluence of the mass change of the slave rotor on a multi-rotor synchronous system is reduced; a multi-controller topology and signal communication scheme based on a multi-rotor motion controller and a winding driving controller is provided; the winding driving controller collects the absolute position of the coupling rotor, the serial number of the coupling rotor and the load resistance of thecoupling rotor, and the collected information is transmitted to the multi-rotor motion controller through a high-speed bus; the multi-rotor motion controller operates virtual master rotor and slave rotor position feedback control, a primary winding driving controller operates rotor speed feedback control and winding current adjustment. The logic is clear, and implementation is easy.

Description

technical field [0001] The invention relates to the field of motor control, in particular to a multi-mover linear motor synchronous control system. Background technique [0002] The traditional virtual master axis synchronous control method regards the output signal of the speed controller of the slave axis as the load resistance and feeds it back to the virtual master axis. When the speed controller is saturated and the load of the slave axis changes suddenly, the output signal of the speed controller is quite different from the actual load resistance. , thereby degrading the synchronous control performance. [0003] Therefore, there is an urgent need in the art to provide a system or method capable of improving the synchronous control of multi-mover linear motors. Contents of the invention [0004] The object of the present invention is to provide a synchronous control system for multi-mover linear motors, so as to improve the dynamic / static synchronous performance of m...

AI Technical Summary

Problems solved by technology

[0002] The traditional virtual master axis synchronous control method regards the output signal of the speed controller of the slave axis as the load resistance and feeds it back to the virtual master axis. When the speed controller is saturated and the load of the slave axis changes suddenly, the output signal of the speed controller is quite different from the actual load resistance. , which reduces the synchronous control performance

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