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