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| Research on electromechanical co-simulation of multi-axis drum system synchronization control |
| ZHOU Kui, WANG Wen-Ge, XIAO Bo |
| College of Mechanical and Vehicle Engineering， Hunan University， Changsha 410082， China |
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Abstract In order to research the synchronous control of multiaxis drum system， a kind of electromechanical cosimulation analysis method of independent servo drive multiaxis synchronous control system was presented. Multiaxis drum system model was built and its dynamic characteristics were analyzed. Based on analyzing the control system， the multiaxis synchronous control model was built and controller parameters of three loops were tuned. Multiaxis synchronization error between adjacent axes was analyzed with masterslave control structure. The influence of coupling on control system was analyzed as well. Simulation results show that synchronization errors were in permissible range and errors were reduced by adding coupling control. The experimental results indicate that the synchronization performance of multiaxis drum system is right and meets the design requirements well.
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Published: 28 October 2013
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多轴鼓轮系统同步控制机电联合仿真研究
为研究多轴鼓轮系统同步控制问题，提出一种独立伺服多轴同步控制系统的机电联合仿真分析方法．建立三鼓轮系统动力学模型并分析其动力学特性；基于对控制系统的分析，建立了多轴同步控制模型，整定了三环控制器参数．通过ADAMS/MATLAB联合仿真，分析主从式控制结构下相邻轴位置同步误差以及耦合控制对系统性能的影响．仿真结果表明同步误差在允许范围之内，通过添加耦合控制能有效减小系统误差．通过实验验证了主从式多轴鼓轮系统有较好的同步性能，符合设计要求．
关键词：
ADAMS/MATLAB,
联合仿真,
鼓轮同步控制,
耦合
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