Multimotor Improved Relative Coupling Cooperative Control Based on Sliding-Mode Controller

Abstract

To provide cooperative control under complex working conditions of a filling multimotor system, this paper proposes a relative coupling control strategy with a switching system structure. Firstly, a multistation transmission system composed of a filling motor and a transfer motor is designed according to different filling processes. Secondly, a stable sliding-mode surface common to the multimotor system is selected, and an equivalent sliding-mode controller corresponding to each motor is designed. Thirdly, public Lyapunov stability theory is used to prove that the switched system can move from any initial state to the common sliding surface of the system, thereby ensuring the asymptotic stability of the entire system. Simulation results show that this method has a more significant control effect on the system error of each motor in comparison with the traditional relative coupling control structure.

Synchronous control system of virtual main-axis based on extended sliding mode disturbance observer

“…where, M fj = B f v j , B f is resistance torque coefficient, M fj is resistance torque of traction shaft, T ej is electromagnetic torque, v j is angular velocity of traction shaft, R j is traction roller radius, and J j is traction roller equivalent moment of inertia. According to the formula (6) and the model of PMSM, 24 the tension system model of the traction shaft can be modified as follows…”

“…Owing to the change of the disturbance quantity of the system is slow in practical engineering applications, the rate of change of the disturbance quantity of the system _ f j (t) can be regarded as 0, and formula (25) can be obtained from formula (24) and as follows…”

Collaborative Control of Multimotor Systems for Fixed‐Time Optimisation Based on Virtual Main‐Axis Speed Compensation Structure

“…System Model e PMSM of the driving system for filling production is the research object of this study. e second-order kinetic model of motor j in the multimotor system can be expressed as follows [13]:…”

“…Shi et al put forward an improved multimotor relative coupling synchronous control, which also decoupled tracking and synchronisation errors of the system [12]. Zhang et al mainly improved the relative coupling synchronization structure and then realized the smooth operation of the intelligent filling equipment for sticky food under complex working conditions [13]. Xu et al investigated the adaptive synchronisation of coupled harmonic oscillator with switching topology and proposed an edgebased servo synchronous adaptive control protocol [14].…”

A Survey of Fuzzy Algorithms Used in Multi-Motor Systems Control

“…Another example of continuous lines is filling systems in the food packaging industry. According to [15], the specific problems occur in the case of filling thick sauces and sticky food because of sudden load changes at the filling motor. These abrupt load changes lead to large synchronization errors in the multi-motor system.…”