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An Improved Deviation Coupling Control Method for Speed Synchronization of Multi-Motor Systems

Authors :
Ying Mu
Liqun Qi
Mingyuan Sun
Wenbo Han
Source :
Applied Sciences, Vol 14, Iss 12, p 5300 (2024)
Publication Year :
2024
Publisher :
MDPI AG, 2024.

Abstract

In order to enhance the synchronization of welding robot arms and improve welding quality, this study proposes a fuzzy PID-based improved deviation coupling multi-axis synchronous control method. Firstly, in response to the intricacies inherent in the compensation mechanism of the deviation coupling control structure and the substantial volume of system computation, the integration of average speed and sub-average speed is proposed to optimize the speed compensator. This integration aims to mitigate speed synchronization errors, minimize synchronization adjustment time, and elevate overall system synchronization performance. Moreover, the fuzzy PID algorithm is employed to design the controller to realize the single-motor adaptive control, leading to improvement in both system stability and dynamic response performance. Finally, a simulation model for six-axis synchronization control and an experimental platform were developed. Both simulation and experimental results demonstrate that the improved deviation coupling control method exhibits superior synchronization performance. The proposed multi-axis synchronous control method effectively heightens the synchronous performance of the six-degrees-of-freedom robotic arm.

Details

Language :
English
ISSN :
20763417
Volume :
14
Issue :
12
Database :
Directory of Open Access Journals
Journal :
Applied Sciences
Publication Type :
Academic Journal
Accession number :
edsdoj.3b5d1031ed044687931232865354b094
Document Type :
article
Full Text :
https://doi.org/10.3390/app14125300