Improved Relative Coupling Cooperative Control for Multi-motor Driving System

Abstract

To enhance the multi-motor cooperative control performance, an improved relative coupling cooperative control strategy is proposed. Firstly, the causes of the cooperative error are analyzed. Secondly, the simple and widely applicable compensation strategy for each motor is proposed. Finally, the coordination and effectiveness of the proposed strategy is validated through the simulation and analysis of the velocity and displacement cooperative control of the multi-motor driving system. The highlight of this paper is that this study does not concentrate on the following situation of each motor to the same velocity command in multi-motor driving system as most literature do, but focuses on the cooperative following situation of each motor to different velocity or displacement commands in multi-motor driving system. And the proposed algorithm not only has simple structure, strong adaptability, but also has achieved good control effect.