Synchronous Control of Multi-Motor Coupled With Pendulum in a Vibration System

Abstract

In this paper, the synchronous control method for multi-motor coupled with pendulum in a vibration system is introduced. The dynamic model of three eccentric rotors (ERs) driven by three motors rotating in the same direction in the system is firstly established. However, to obtain elliptical trajectory, the ideal synchronization motion (zero-phase difference) of the three ERs should be satisfied. Therefore, the synchronous control strategy for the proposed system is described. Then, the exponential reaching law sliding mode control (ERL-SMC) with adjacent cross-coupling control structure is applied to design the controllers of rotational velocity error and synchronization error. Meanwhile, the stability performance of the controllers is demonstrated by Lyapunov theory and Hurwitz condition. Furthermore, the adaptive method is applied to the ERL-SMC to improve the control accuracy of the system. Finally, computer simulation based on Matlab/Simulink is implemented to validate the effectiveness of the control system; besides, the impact of parameter perturbations in the control system are considered to verification the robustness of controllers related to the velocity and synchronization. INDEX TERMS Synchronous control, vibration system, exponential reaching law, sliding mode control adjacent cross-coupling control.

Combined control strategy for synchronization control in multi-motor-pendulum vibration system

“…In this section, based on the ACCC-MSC and RLA-GSMC controllers, some numerical simulations based on MATLAB/ Simulink are implemented to verify the correctness of theoretical control strategy above, which are also compared with that of the exponential reaching law sliding mode control (ERL-SMC) method proposed by Fang et al (2020). The parameters of the vibration system and induction motors are listed in Tables 1 and 2, respectively.…”

“…To demonstrate effectiveness and progress of the combined control strategy, the control method (ERL-SMC) proposed in Fang et al (2020) is used to control the MMPVS. And some parameter values of the combined control strategy should be designed, that is, First, comparing the rotational velocity obtained by the previous control method (ERL-SMC) with the velocity obtained by the current combined control strategy, the velocities of the motors are maintained around 154.9 rad/s in the synchronous state.…”

“…Therefore, control synchronization is a better method to obtain ideal synchronization between the rotors (Kong et al, 2016). In the research of control synchronization, the synchronization of zero-phase difference among the three ERs in the vibrating screen can be implemented by applying the structure of master–slave and adjacent cross-coupling, respectively (Fang et al, 2020; Kong et al, 2016). Nevertheless, the structure of adjacent cross-coupling is complex, and many parameters are designed under limiting conditions.…”

“…Furthermore, comparing with Fang et al (2020), because the master–slave control structure is combined in the ACCC-MSC structure, the velocity errors of motors 2 and 3 should be adjusted, that is…”

“…Moreover, the precision of SMC algorithm is always affected by the chattering phenomenon (Chuang and Lin, 1999). Hence, the reaching law is used to restrain the chattering phenomenon; meanwhile, the robustness of the whole system can also be guaranteed (Baek et al, 2016; Fang et al, 2020; Pan et al, 2018). At present, multi-DOF coupled vibration systems are widely used in vibration engineering, but there are few control strategies for this system.…”