多轴电机同步运动控制器设计

摘要

针对多轴电机同步控制问题,研究一种基于模糊-单神经元PID控制策略的同步控制器.使用研究的同步控制方法与常规PID算法进行对比分析.结果表明,相比基于常规PID算法的多轴电机同步运动控制器,在基于模糊-单神经元PID算法的多轴电机同步运动控制器作用下,各个电机之前的同步误差更小,当第二台电机发生载荷突变时,控制器能够有效抑制载荷突变对整个多轴电机系统的影响.基于模糊-单神经元PID算法的多轴电机同步运动控制器能够有效提升多轴电机同步运动系统的动态特性和稳定性.%A synchronous controller based on fuzzy and single neuron PID control strategy is studied for the multi-axis mo-tor synchronous control. The contrastive analysis is performed for the synchronous control method studied in this paper and the conventional PID algorithm. The results show that the synchronous error of each motor affected by the multi-axis motor synchro-nous motion controller based on fuzzy and single neuron PID algorithm is smaller than that of the multi-axis motor synchronous motion controller based on conventional PID algorithm. If the load of the second motor is changed suddenly,the controller can restrain the influence of load mutation on multi-axis motor system effectively. The multi-axis motor synchronous motion controller based on fuzzy and single neuron PID algorithm can improve the dynamic performance and stability of the multi-axis motion syn-chronous motion system effectively.