Multi-motor control technology is widely used in industry.
The basic concept of microcontroller and the composition of multi-motor synchronous control system are analyzed, and the algorithm and system design of multi-motor synchronous control based on microcontroller are analyzed and elaborated. At present, the system design of many motors is based on microcontroller. Research on the algorithm and system design of multi-motor synchronous control based on microcontroller is of great significance for improving the efficiency of multi-motor joint operation and developing the operation potential of multi-motor.
It is also an important research direction in the field of multi-motor joint operation. There are many classifications of microcontrollers. We can divide it into 8-bit, 16-bit and 32-bit computers according to the width of data bus, Harvard and Von Neumann structures according to the specific structure of memory, and OTP, mask, EPROM/EEPROM and Flash microcontrollers according to the difference of program memory in their structure. Program memory is an important part of microcontroller. According to the width of the data bus, we can logically divide the memory into 8 KB, 16 KB or 32 KB in pairs, and then use different flash units to support the corresponding application programming. The influence of operation mode on MCU is very significant. After starting the device of the microcontroller, according to the setting of its operation mode, the loading program of the special ROM residing inside the device can be executed. In this process, whenever a return sign is received, its internal serial port can perform the automatic baud rate function and synchronize with the host’s baud rate. In addition, in the process of analyzing its operation mode, because of its simple boot loader interface, it is actually allowed to use several methods to realize the communication between PC and target microcontroller. The structure of multi-motor synchronous control system is shown in Figure 1. As can be seen from Figure 1, the multi-motor synchronous control system consists of a synchronous controller, an industrial computer, a protocol converter and a frequency converter. Among them, the synchronization controller has the most important communication, detection and control function modules, and is the core of the whole control system. The protocol converter is the bridge between the host computer and the synchronization controller. Its main function is to realize the bidirectional transmission of the protocol conversion memory synchronous transmission parameters. The main function of the frequency converter is to drive the synchronous motor. Generally, a synchronous controller can realize the synchronous control of five-way motor. Basis and premise are mainly control algorithms based on proportion, integral and differential theory. In the application of PID control algorithm for more than 40 years, it has played an important role in the birth and improvement of many new control strategies.
According to the application of this algorithm in the field of multi-motor, as a low-order and predictable control algorithm, it always has good control effect. It is self-evident that the importance of the fuzzy control algorithm to the multi-motor synchronous control algorithm based on microcontroller. This control algorithm was born in 1965. It is based on the theory of non-linear and time-varying systems, and has been well developed up to now. This algorithm is a control tool of language type, which means that it can be easily understood and applied by human logic and consciousness. In the basic structure of the fuzzy control algorithm, the knowledge base is the top structure, and then the lower end is the input membership function, the inference rules and the output membership function. The knowledge base makes the precise input get the precise output through fuzzification, fuzzy reasoning and anti-fuzzification.
The calculation of the corresponding membership function is indispensable for discussing various fuzzy phenomena. There are many methods to establish the fuzzy membership function, and different fuzzy problems have different methods. There are two commonly used methods: statistical law method and random segmentation method. Probability is the possibility of event A, thermostatic element and membership function is the degree to which element u belongs to subset A. The former is full of randomness, while the latter presents objectivity and fuzziness.
The value of membership function is obtained by statistical law method, not by function. The value of membership function can be obtained by random partition method. The key point of this method is the random segmentation fuzzy statistical test model. In segmentation, attention should be paid to the use of vague concepts, such as dividing the volume into seven different levels: super-large, large, medium, small, small and super-small. The three-part method is now used. The so-called “trichotomy” means dividing the discussed space Omega into three subspaces, A1, A2 and A3, with the boundary points (surfaces) of A1 and A2 as_and the boundary points (surfaces) of A2 and A3 as_. Thus, if the boundary points (surfaces) of A2 and A3 are determined (_, _), a division will be determined.
The random partition method regards (_, _) as a pair of random variables. The probability distribution of_and_is obtained in the sample survey, and then the membership function of_Ai (u) is deduced. Where I is the number of subspaces. The formulas for calculating membership function by random partition method are as follows. In formula (4) (6), P_(u) and P_(u) are edge distribution density functions of and (u) respectively.
Control mode selection is one of the core contents of the design of multi-motor synchronous control system based on microcontroller. In the process of choosing control mode, there are master-slave structure and parallel structure to choose. When choosing control mode, staff members need to consider many factors, such as transmission requirements and accuracy, cost performance and control ability.
When choosing the air mode, the staff should pay attention to its lag. This lag is mainly determined by its structure and other factors. Network structure design is the most important part of the design of multi-motor synchronous control system based on microcontroller.
In the process of network structure design, staff should take PC machine, CAN bus and DSP control board as the fulcrum of the structure. In addition, CAN bus can make PC machine communicate better.
This communication object includes CAN bus itself. Communication mode design is a key link in the design of multi-motor synchronous control system based on microcontroller. In the design of communication mode, can bus effectively realizes the communication between the upper computer and the lower computer. This means that the upper and lower computers can establish the connection through the bus, so in the design process of communication mode, the staff should take the speed signal of the main motor as the communication signal and design the synchronization algorithm based on the DSP, so as to track the speed signal of the main motor, so that the synchronization between the main motor and the slave motor can be achieved, and carry out effective signal communication. Before designing the system, we should first understand the basic concepts, operation modes and structure of microcontrollers.
On this basis, through a large number of technical practices, we can continuously promote the effective improvement of the overall level of multi-motor synchronous control algorithm and system design in China.