Coordinated synchronization control of multi-motor system based on synergetic control theory

摘要

A synergetic speed controller (SSC) is proposed for the multi-motor system of triple brushless DC (BLDC) motors with the relative coupling structure in order to improve the coordination and robustness. To achieve the desired synchronous control objective, an augmented dynamic model of the BLDC motor is firstly developed. Based on the synergetic control theory, a manifold is then constructed for the /^hmotor as the linear combination of the phase current, the speed tracking error and its integration, and the coordination error as well as its integration. The control law of the SSC is further deduced from the augmented model and the manifold. The effects of controller parameters on the synchronization performance and their selection principle are also discussed. Simulative results on the triple-BLDC motor system with relative coupling show that the SSC can provide better synchronization and robustness, by comparing with the conventional PID relative coupling control and the sliding mode control (SMC) relative coupling control.