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《Proceedings of the CSEE》 2007-15
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Synchronization Control Strategy in Multi-motor Systems Based on the Adjacent Coupling Error

ZHANG Cheng-hui, SHI Qing-sheng, CHENG Jin (School of Control Science and Engineering, Shandong University, Jinan 250061, Shandong Province, China)  
In modern manufacturing, the motion control of multi-axis for high precision, high speed machining is becoming a critical problem. The existed algorithms are mostly applicable to biaxial systems, and seem to be infeasible in multi-axial systems. Aimed at the problems, such as the difficulties in choosing proper coupling rules and huge amounts of calculation on-line using the existed algorithms, a synchronized control idea in multi-motor systems with the minimum number of correlative axis was produced. Based on the adjacent coupling error and sliding mode theory, the synchronization control algorithm was proposed, the convergence and stability of which are proved by use of Lyapunoy function then. Finally, the simulation results of the synchronized system with four axes show that the proposed strategy has a good synchronized stability behavior, a quick convergence rate and so has a great application value.
【Key Words】: synchronization control the minimum number of correlative axis adjacent coupling error tracking error convergence
【Fund】: 国家自然科学基金项目(50477042);; 高等学校博士学科点专项科研基金项目(20040422052);; 山东省自然科学基金项目(Z2004G04)~~
【CateGory Index】: TM921.543
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