多电机同步运动控制技术综述

doi:10.19595/j.cnki.1000-6753.tces.200343

Abstract
Figure/Table
References
Related Citation (15)

Download: PDF (1989 KB) HTML (1 KB)
Export: BibTeX | EndNote (RIS)

Abstract The multi-motor synchronous working system has been widely used in industry and production, and its control structure and control strategy greatly affect the quality and efficiency of production. For different practical application scenarios, researchers have proposed many specific synchronization control schemes. Research on the response speed, synchronization accuracy, and robustness of dual-motor and even multi-motor cluster system synchronization control has become a hot topic. With reference to a large number of researches on synchronization control made by domestic and foreign researchers in recent years, a review of typical synchronization control methods is presented. Cross-coupling, adjacent coupling, relative coupling and other control structures are summarized. Based on simulation, the performance indexes differences of the three main structures are compared. The control strategies and optimization methods based on each control structure are sorted out. Then, the current research difficulties and existing solutions are summarized. Finally, the development of multi-motor synchronous motion control technology is summarized and prospected.

Key words： Synchronous control control structure control strategy multi-motor control cross- coupling relative coupling

Received: 08 April 2020

PACS:

TM32

	Service

	E-mail this article
	Add to my bookshelf
	Add to citation manager
	E-mail Alert
	RSS
	Articles by authors
	Ye Yuhao
	Peng Fei
	Huang Yunkai

Cite this article:

Ye Yuhao,Peng Fei,Huang Yunkai. Overview of Multi-Motor Synchronous Motion Control Technology[J]. Transactions of China Electrotechnical Society, 2021, 36(14): 2922-2935.

URL:

https://dgjsxb.ces-transaction.com/EN/10.19595/j.cnki.1000-6753.tces.200343 OR https://dgjsxb.ces-transaction.com/EN/Y2021/V36/I14/2922

[1] 黄松清, 胡寅峰, 赵圣宝. 多电机同步传动系统的解耦控制[J]. 安徽工业大学学报(自然科学版), 2011, 28(1): 42-50.
Huang Songqing, Hu Yinfeng, Zhao Shengbao.Decoupling control of synchronous drive system with multiple induction motors[J]. Journal of Anhui University of Technology (Natural Science), 2011, 28(1): 42-50.
[2] 刘星桥, 唐琳, 周丽. 二阶自抗扰控制器在三电机同步系统中的应用[J]. 电工技术学报, 2012, 27(2): 179-184.
Liu Xingqiao, Tang Lin, Zhou Li.Second-order active disturbance rejection controller applied in three-motor synchronous system[J]. Transactions of China Electrotechnical Society, 2012, 27(2): 179-184.
[3] 张今朝, 刘国海. 基于GGAP-RBF神经网络逆的复杂多电机系统同步控制[J]. 控制工程, 2011, 18(1): 31-34, 38.
Zhang Jinzhao, Liu Guohai.GGAP-RBF neural network inverse synchronous control of complex multi-motor system[J]. Control Engineering of China, 2011, 18(1): 31-34, 38.
[4] 陈海森, 张德新, 王继河, 等. 基于H_∞交叉耦合算法的双驱同步控制[J]. 浙江大学学报(工学版), 2017, 51(1): 131-137.
Chen Haisen, Zhang Dexin, Wang Jihe, et al.Dual- drive synchronous control with large payload based on H_∞ cross-coupled algorithm[J]. Journal of Zhejiang University (Engineering Science), 2017, 51(1): 131-137.
[5] 董然. 龙门机床高精度双轴同步控制器研究[D]. 北京: 北方工业大学, 2018.
[6] Li Chao, Li Cong, Chen Zheng, et al.Advanced synchronization control of a dual-linear-motor-driven gantry with rotational dynamics[J]. IEEE Transa- ctions on Industrial Electronics, 2018, 65(9): 7526-7535.
[7] 陈静, 刘强, 齐畅. 基于自适应和模糊控制的新型XY平台同步控制研究[J]. 系统仿真学报, 2008, 20(12): 3212-3215.
Chen Jing, Liu Qiang, Qi Chang.Research on synchronous control of novel XY-table based on adaptive and fuzzy control methods[J]. Journal of System Simulation, 2008, 20(12): 3212-3215.
[8] Barton K L, Alleyne A G.A cross-coupled iterative learning control design for precision motion control[J]. IEEE Transactions on Control Systems Technology, 2008, 16(6): 1218-1231.
[9] 王丽梅, 孙璐. 基于经验模态分解算法的直驱XY平台交叉耦合迭代学习控制[J]. 中国电机工程学报, 2016, 36(17): 4745-4752.
Wang Limei, Sun Lu.Cross-couple iterative learning control of direct drive XY table based on an empirical mode decomposition algorithm[J]. Proceedings of the CSEE, 2016, 36(17): 4745-4752.
[10] Perez-Pinal F J, Nunez C, Alvarez R, et al. Com- parison of multi-motor synchronization techques[C]// IEEE 30th Annual Conference of IEEE Industrial Electronics Society, Busan, South Korea, 2004, 2: 1670-1675.
[11] 王毅波, 曹宽. 多电机同步控制技术发展简介[J].微特电机, 2019, 47(8): 69-73.
Wang Yibo, Cao Kuan.Brief introduction of multi- motor synchronous control technology[J]. Small & Special Electrical Machines, 2019, 47(8): 69-73.
[12] 韩仁银, 郭阳宽, 祝连庆, 等. 多电机同步控制综述[J]. 电机与控制应用, 2017, 44(6): 8-12.
Han Renyin, Guo Yangkuan, Zhu Lianqing, et al.Review of multi-motor synchronization control[J]. Electric Machines & Control Application, 2017, 44(6): 8-12.
[13] 蒋毅. 多永磁电机传动系统的同步控制策略研究[D]. 杭州: 浙江大学, 2014.
[14] Huang Hao, Tu Qunzhang, Jiang Chenming, et al.Dual motor drive vehicle speed synchronization and coordination control strategy[J]. AIP Conference Pro- ceedings, American Institute of Physics, 2018, 1955(1): 040005.
[15] Liu Zhaoyang, Yang Jian.Sliding-mode control- based adaptive PID control with compensation controller for motion synchronization of dual servo system[C]//2017 36th Chinese Control Conference, Dalian, China, 2017: 4929-4934.
[16] 刘波. 基于模糊控制的多电机同步控制系统研究[D]. 武汉: 武汉理工大学, 2009.
[17] Suprapto, Mao W L. Adaptive neural network-based synchronization control for dual-drive servo system[C]// 2014 International Conference on Fuzzy Theory and Its Applications, Kaohsiung, 2014: 19-23.
[18] Verrelli C M, Pirozzi S, Tomei P, et al.Synchro- nization control of DC motors through adaptive disturbance cancellation techniques[C]//IEEE 2016 International Symposium on Power Electronics, Electrical Drives, Automation and Motion, Capri, Italy, 2016: 488-493.
[19] Zhao Wei, Ren Xuemei.Neural network-based tracking and synchronization control for nonlinear multi-motor driving servomechanism[C]//IEEE 2016 35th Chinese Control Conference, Chengdu, China, 2016: 3525-3530.
[20] 许春权, 胡洪国, 杨汝清. 多伺服电机的串联同步控制[J]. 电气自动化, 2001, 23(4): 21-22.
[21] 祁晓阳, 于少娟. 基于积分滑模变结构的双轴伺服电机同步控制[J]. 太原科技大学学报, 2017, 38(2): 83-87.
Qi Xiaoyang, Yu Shaojuan.Biaxial servo motor synchronous control based on variable structure controller with integral sliding mode[J]. Journal of Taiyuan University of Science and Technology, 2017, 38(2): 83-87.
[22] 潘亮, 周武能, 张杨. 基于模糊PID主从式方法的多电机同步控制[J]. 微型机与应用, 2016, 35(15): 5-7.
Pan Liang, Zhou Wuneng, Zhang Yang.The multi- motor synchronous control based on fuzzy PID master- slave method[J]. Microcomputer & Its Applications, 2016, 35(15): 5-7.
[23] Inagaki T, Suzuki K, Dohmeki H.The study of parallel synchronous drive in Permanent magnet linear synchronous motor[C]//IEEE 2017 11th Inter- national Symposium on Linear Drives for Industry Applications, Osaka, 2017: 1-4.
[24] 罗亚琴, 孙建忠, 刘然. 基于转矩跟随主从控制策略的多电机同步控制[J]. 电机技术, 2011(6): 8-11.
Luo Yaqin, Sun Jianzhong, Liu Ran.Synchronization control in multi-motor system based on the torque following master and slave control strategy[J]. Electrical Machinery Technology, 2011(6): 8-11.
[25] Koren Y.Cross-coupled biaxial computer control for manufacturing systems[J]. Journal of Dynamic Systems, Measurement, and Control, 1980, 102(4): 265-272.
[26] Gao Yu, Bu Feifei, Yang Zhida, et al.Improved speed synchronization control algorithm based on cross coupling for dual servo motors control[C]// IEEE 2018 21st International Conference on Elec- trical Machines and Systems, Jeju, South Korea, 2018: 2777-2780.
[27] Xiao Yong, Pang Yujun, Ge Xiaoyu, et al.Syn- chronous control for high-accuracy biaxial motion systems[J]. Control Theory and Technology, 2013, 11(2): 294-298.
[28] 赵希梅, 赵久威. 精密直驱龙门系统的交叉耦合互补滑模控制[J]. 电工技术学报, 2015, 30(11): 7-12.
Zhao Ximei, Zhao Jiuwei.Cross-coupled com- plementary sliding mode control for precision direct- drive gantry system[J]. Transactions of China Elec- trotechnical Society, 2015, 30(11): 7-12.
[29] 齐彪. 基于滑模控制算法的多电机同步控制研究[D]. 哈尔滨: 哈尔滨工业大学, 2017.
[30] 夏长亮, 李莉, 谷鑫, 等. 双永磁电机系统转速同步控制[J]. 电工技术学报, 2017, 32(23): 1-8.
Xia Changliang, Li Li, Gu Xin, et al.Speed synchronization control of dual-PMSM system[J]. Transactions of China Electrotechnical Society, 2017, 32(23): 1-8.
[31] Zhan Lixin, Zhou Kai.Adaptive fuzzy sliding mode control for a robotic aircraft flexible tooling system[J]. The International Journal of Advanced Manufacturing Technology, 2013, 69(5-8): 1469-1481.
[32] 刘大伟, 高钦和, 陈志翔, 等. 双电机同步交叉耦合PID控制器的设计与试验验证[J]. 电机与控制应用, 2019, 46(9): 31-35.
Liu Dawei, Gao Qinhe, Chen Zhixiang, et al.Design and experimental verification of cross-coupled PID controller[J]. Electric Machines & Control Appli- cation, 2019,46(9): 31-35.
[33] Sun Dong, Mills J K.Adaptive synchronized control for coordination of multirobot assembly tasks[J]. IEEE Transactions on Robotics and Automation, 2002, 18(4): 498-510.
[34] 刘然, 孙建忠, 罗亚琴, 等. 多电机滑模环形耦合同步控制策略研究[J]. 中国机械工程, 2010, 21(22): 2662-2665.
Liu Ran, Sun Jianzhong, Luo Yaqin, et al.Research on multi-motor sliding-mode synchronization control based on ring coupling strategy[J]. China Mechanical Engineering, 2010, 21(22): 2662-2665.
[35] Sun Jianzhong, Liu Ran, Luo Yaqin, et al.Research on multi-motor synchronization control for cutter head of shield machine based on the ring coupled control strategy[C]//Intelligent Robotics and Appli- cations, Second International Conference, Singapore, 2009: 345-354.
[36] Chen Qiang, Dong Fang, Tao Liang, et al.Multiple motors synchronization based on active disturbance rejection control with improved adjacent coupling[C]// IEEE 2016 35th Chinese Control Conference, Chengdu, China, 2016: 4510-4516.
[37] 张承慧, 石庆升, 程金. 一种基于相邻耦合误差的多电机同步控制策略[J]. 中国电机工程学报, 2007, 27(15): 59-63.
Zhang Chenghui, Shi Qingsheng, Cheng Jin.Syn- chronization control strategy in multi-motor systems based on the adjacent coupling error[J]. Proceedings of the CSEE, 2007, 27(15): 59-63.
[38] Huang Zhilong, Li Yiming, Song Guiqiu, et al.Speed and phase adjacent cross-coupling synchronous control of multi-exciters in vibration system con- sidering material influence[J]. IEEE Access, 2019, 7: 63204-63216.
[39] Zhang Peng, Zhang Jian, He Dong, et al. Based on adjacent cross-coupling of multi-motor synchronous drive[J]. Advanced Materials Research, 2011, 201- 203: 1093-1097.
[40] 胡松钰, 钱松, 吴伟, 等. 相邻交叉耦合直线开关磁阻电机位置同步控制[J]. 中国电机工程学报, 2017, 37(23): 7024-7031, 7094.
Hu Songyu, Qian Song, Wu Wei, et al.Position synchronization control for linear switch reluctance motor based on adjacent cross-coupling[J]. Pro- ceedings of the CSEE, 2017, 37(23): 7024-7031, 7094.
[41] Perez-Pinal F J, Calderon G, Araujo-Vargas I. Relative coupling strategy[C]//IEEE International Electric Machines and Drives Conference, Madison, WI, USA, 2003, 2: 1162-1166.
[42] 彭晓燕, 刘威, 张强. 基于改进型偏差耦合结构的多电机同步控制[J]. 湖南大学学报(自然科学版), 2013, 40(11): 77-83.
Peng Xiaoyan, Liu Wei, Zhang Qiang.Synchronized control of multi-motor based on the improved relative coupling control[J]. Journal of Hunan University (Natural Sciences), 2013, 40(11): 77-83.
[43] 谢炜. 基于BP神经网络PID算法的多电机同步控制研究[D]. 沈阳: 沈阳工业大学, 2017.
[44] 程文雅, 罗亮, 刘知贵. 改进偏差耦合补偿的反演同步控制算法的研究[J]. 机械设计与制造, 2016(2): 41-44, 48.
Cheng Wenya, Luo Liang, Liu Zhigui.Improvement study of deviation coupling compensation back- stepping synchronous control arithmetic[J]. Machinery Design & Manufacture, 2016(2): 41-44, 48.
[45] 张谦. 多电机同步控制问题的研究[D]. 哈尔滨: 哈尔滨工业大学, 2016.
[46] 王国亮. 基于模糊PID补偿器的多电机同步控制策略研究[D]. 沈阳: 东北大学, 2006.
[47] 崔皆凡, 刘艳, 闫红, 等. 基于模糊控制的多电机神经元PID同步控制[J]. 组合机床与自动化加工技术, 2013(2): 81-83, 87.
Cui Jiefan, Liu Yan, Yan Hong, et al.Multi-motor neuron PID synchronous control based on fuzzy control[J]. Modular Machine Tool & Automatic Manufacturing Technique, 2013(2): 81-83, 87.
[48] 崔皆凡, 谢炜, 马桂新, 等. 基于BP神经网络PID的改进偏差耦合同步控制[J]. 微电机, 2016, 49(12): 54-57.
Cui Jiefan, Xie Wei, Ma Guixin, et al.Improved deviation coupling control based on BP neuron network PID[J]. Micromotors, 2016, 49(12): 54-57.
[49] 耿强, 王少炜, 周湛清, 等. 改进型偏差耦合多电机转速同步控制[J]. 电工技术学报, 2019, 34(3): 474-482.
Geng Qiang, Wang Shaowei, Zhou Zhanqing, et al.Multi-motor speed synchronous control based on improved relative coupling structure[J]. Transactions of China Electrotechnical Society, 2019, 34(3): 474-482.
[50] 耿强, 徐婷婷. 关于多电机转速同步控制系统仿真研究[J]. 计算机仿真, 2018, 35(11): 319-323.
Geng Qiang, Xu Tingting.Simulation study on synchronous control system of multi-motor speed[J]. Computer Simulation, 2018, 35(11): 319-323.
[51] 姜晓平, 朱奕, 伞冶. 大功率随动试验台多永磁同步电机同步控制[J]. 电机与控制学报, 2014, 18(4): 88-95.
Jiang Xiaoping, Zhu Yi, San Ye.Synchronization control of multiple permanent magnet synchronous motors in high-power servo test stands[J]. Electric Machines and Control, 2014, 18(4): 88-95.
[52] 张守娟. 随动系统的多电机同步控制方法研究[D]. 哈尔滨: 哈尔滨工业大学, 2013.
[53] Payette K.The virtual shaft control algorithm for synchronized motion control[C]//IEEE Proceedings of the 1998 American Control Conference, Philadelphia, PA, USA, 1998: 3008-3012.
[54] Lorenz R D, Schmidt P B.Synchronized motion control for process automation[C]//IEEE Conference Record of the Industry Applications Society Annual Meeting, San Diego, CA, USA, 1989: 1693-1698.
[55] 季明逸, 游有鹏. 基于虚拟主轴法的同步控制策略研究[J]. 机电一体化, 2012, 18(8): 36-41.
Ji Mingyi, You Youpeng.Research for synchronized control strategy based on virtual shaft control algorithm[J]. Mechatronics, 2012, 18(8): 36-41.
[56] Zuo Ting, Lu Hong, Fan Wei, et al, Research on dual drive synchronization performance based on virtual shaft control strategy[C]//IEEE 2017 2nd Inter- national Conference on Robotics and Automation Engineering, Shanghai, China, 2017: 254-258.
[57] 郑雄. 伺服压力机控制系统关键技术研究[D]. 武汉: 华中科技大学, 2012.
[58] 赵祖乾. 双螺杆驱动伺服压力机同步控制策略研究与实现[D]. 武汉: 华中科技大学, 2013.
[59] Li Jian, Fang Youtong, Huang Xiaoyan, et al.Comparison of synchronization control techniques for traction motors of high-speed trains[C]//IEEE 2014 17th International Conference on Electrical Machines and Systems, Hangzhou, China, 2014: 2114-2119.
[60] 董凡, 方攸同, 黄晓艳, 等. 同步控制策略在高速列车牵引电机中的应用[J]. 微电机, 2016, 49(8): 27-30, 39.
Dong Fan, Fang Youtong, Huang Xiaoyan, et al.Application of synchronization control on traction motors of high speed trains[J]. Micromotors, 2016, 49(8): 27-30, 39.
[61] Wu Yanjuan, Cheng Yanbin, Wang Yunliang.Research on a multi-motor coordinated control strategy based on fuzzy ring network control[J]. IEEE Access, 2020, 8: 39375-39388.
[62] Hu Tao, Wang Jingcheng, Zhang Langwen.Regional coupling based synchronization control of multi- motor driving TBM cutterhead system[C]//IEEE 2015 34th Chinese Control Conference, Hangzhou, China, 2015: 8789-8794.
[63] Li Lebao, Sun Lingling, Zhang Shengzhou.Mean deviation coupling synchronous control for multiple motors via second-order adaptive sliding mode control[J]. ISA Transactions, 2016, 62: 222-235.
[64] Guan Yan, Wu Yifei, Gao Yi, et al.Multi-motor synchronous servo system control based on improved inertia identification[C]//IEEE 2018 5th International Conference on Information, Cybernetics, and Comput- ational Social Systems, Hangzhou, 2018: 270-274.
[65] Shi Tingna, Liu Hao, Geng Qiang, et al.Improved relative coupling control structure for multi-motor speed synchronous driving system[J]. IET Electric Power Applications, 2016, 10(6): 451-457.
[66] Wang Cong, Zhang Dengfeng, Zhuang Hao, et al.Coordinated synchronization control of multi-motor system based on synergetic control theory[C]//IEEE 2018 Chinese Control And Decision Conference, Shenyang, 2018: 160-164.
[67] Xu Jie, Lu Huacai, Liu Xufeng.Synchronization control strategy in multi-layer and multi-axis systems based on the combine cross coupling error[J]. Advances in Mechanical Engineering, 2017, 9(6): 1-11.
[68] Wang Anna, Man Yangyang, Zhang Qianqian, et al.Research on synchronization control method of networked multi-agent system of multiple manipulator- motors[C]//IEEE 2017 29th Chinese Control And Decision Conference, Chongqing, China, 2017: 1719-1722.
[69] Shih Y T, Chen C S, Lee A C.A novel cross- coupling control design for bi-axis motion[J]. Inter- national Journal of Machine Tools and Manufacture, 2002, 42(14): 1539-1548.
[70] Sun Dong.Position synchronization of multiple motion axes with adaptive coupling control[J]. Auto- matica, 2003, 39(6): 997-1005.
[71] Kwon O S, Choe S H, Heo H.A study on the dual-servo system using improved cross-coupling control method[C]//IEEE 2011 10th International Conference on Environment and Electrical Engin- eering, Rome, Italy, 2011: 1-4.
[72] 金鸿雁, 赵希梅. 基于Sugeno型模糊神经网络和互补滑模控制器的双直线电机伺服系统同步控制[J]. 电工技术学报, 2019, 34(13): 2726-2733.
Jin Hongyan, Zhao Ximei.Dual linear motors servo system synchronization control based on Sugeno type fuzzy neural network and complementary sliding mode controller[J]. Transactions of China Electro- technical Society, 2019, 34(13): 2726-2733.
[73] Wang Yaowei, Zhang Wenan, Yu Li.GESO-based position synchronization control of networked multiaxis motion system[J]. IEEE Transactions on Industrial Informatics, 2020, 16(1): 248-257.
[74] Hu Shuangyi, Ren Xuemei, Lü Yongfeng.Predictor- based tracking and synchronization control for multi-motor drive servo systems[C]//2019 IEEE 8th Data Driven Control and Learning Systems Con- ference, Dali, China, 2019: 539-544.
[75] Zhang Lishi, Liang Deliang, Cai Shengliang, et al.Multi-motor fault-tolerant synchronous control system based on fuzzy feedback[C]//IEEE 2019 22nd International Conference on Electrical Machines and Systems, Harbin, China, 2019: 1-4.
[76] Lee C R, Kim S K, Ahn C K.Auto-tuning proportional- type synchronization algorithm for DC motor speed control applications[J]. IEEE Transactions on Circuits and Systems II: Express Briefs, 2020, 67(3): 521-525.
[77] Cheng M H, Li Yuejuan, Bakhoum E G.Controller synthesis of tracking and synchronization for multiaxis motion system[J]. IEEE Transactions on Control Systems Technology, 2014, 22(1): 378-386.
[78] Lin Chenglong, Chu Weihua, Gai Wen.Research on the synchronization motion control technology for multi-axis system[C]//IEEE 2016 IEEE Information Technology, Networking, Electronic and Automation Control Conference, Chongqing, China, 2016: 672-679.
[79] Sinha N K, Tiwari P M.Multiple motor synchro- nization using nonlinear PID control[C]//IEEE 2017 3rd International Conference on Advances in Com- puting, Communication & Automation, Dehradun, India, 2017: 1-6.
[80] Wang Minlin, Ren Xuemei, Chen Qiang.Cascade optimal control for tracking and synchronization of a multimotor driving system[J]. IEEE Transactions on Control Systems Technology, 2019, 27(3): 1376-1384.
[81] He Yunbo, Ye Wentao, Gao Jian, et al.Research on dual-linear motor synchronous control in the high- precision gantry motion platform[C]//IEEE 2017 IEEE 19th Electronics Packaging Technology Con- ference, Singapore, 2017: 1-5.
[82] Wu Ke, Ren Xuemei.Fast recursive dynamic sliding control based on improved extended state observer for dual-motor servo system with backlash non- linearity[C]//IEEE 2014 Sixth International Con- ference on Intelligent Human-Machine Systems and Cybernetics, Hangzhou, China, 2014: 173-176.
[83] Wang Kang, Ren Xuemei, Sun Zimei, et al.Recursive adaptive integral sliding mode control based on extended state observer for dual-motor servo system[C]//IEEE 2017 9th International Conference on Modelling, Identification and Control, Kunming, 2017: 663-668.
[84] Zhao Haibo, Wang Chengguang.Fuzzy sliding mode adaptive control of dual-motor driving servo system[C]//IEEE 2018 IEEE International Con- ference on Mechatronics, Robotics and Automation, Hefei, 2018: 52-55.