多电机同步传动控制系统分析

针对产品制造过程中多单元同步传动控制问题，在分析机械总轴同步控制和主令参考同步控制方案优缺点的基础上，提出了多电机同步传动调速系统的虚拟总轴控制方案。该方案虚拟总轴控制模糊机械总轴的机械性，既保留了机械总轴控制方式固有的同步特性，又具有主令参数同步控制方式中各单元间完全没有耦合，任一单元的扰动不会影响其它单元运动状态的优点，虚拟总轴系统的由虚拟总轴、虚拟内内轴以及机械单元等部分组成，虚拟机械部分采用软件实现，由于输入信号经过总轴作用并过滤，易于单元驱动器跟踪。Matlab仿真结果表明，该方案易于调节参数，动态性能好，系统容量大。

Analysis of Synchronized Control System for Multi-Motor

For the problems of synchronized drive control for multi-motor in processes making, based on the advantage and shortcoming of mechanical line-shaft synchronized control and master reference control was analyzed, the scheme of virtual line-shaft synchronized control for multi-motor was presented. In the scheme, virtual-shaft control simulates the mechanical feature of mechanical line-shaft, and not only maintains the synchronization characteristic of mechanical line-shaft, but also has the feature of no coupling in different motor in master reference synchronized control, and an advantage is that disturbance of any motor will not affect the motion of other motor. The virtual line-shaft consists of virtual line-shaft, virtual in-shaft and mechanical unit, virtual mechanical is realized by software. The input signal of the system was filtrated through the line-shaft, and easy to be followed by the units. Matlab simulation result shows that this scheme is easy to modify parameters, and have the feature of better dynamic performance and higher system capacity.