Position Synchronization Control of Permanent Magnet Synchronous Motors Based on an Improved Cross-Coupling Structure

摘要

This paper aims to explore the control method and optimization strategy of dual permanent magnet synchronous motor (PMSM) position linkage. The paper first expounds the research background and significance of multi-motor synchronous cooperative work, analyzes the performance characteristics and application advantages of PMSM, and the technical challenges of dual PMSM position linkage. Then, the paper compares the series control and parallel control schemes of multi-axis linkage of PMSM, points out the advantages and difficulties of parallel control, and focuses on the influence mechanism of communication delay on system synchronization performance. Next, the paper integrates the existing control structures of multi-motor synchronous control, and proposes an improved position synchronous control algorithm based on position traditional cross-coupling and torque deviation feedback, which achieves the compensation effect of communication delay from the perspective of torque. Finally, the paper designs the hardware and software of the system, and verifies the effectiveness and superiority of the proposed algorithm through experiments. The results show that compared with the master command position control under the same communication delay condition, the proposed algorithm can improve the system synchronization performance by 20%, and is suitable for high-precision multi-axis synchronous control scenarios such as robots.