Research on a Multi-Motor Coordinated Control Strategy Based on Fuzzy Ring Network Control

Yanjuan Wu,Yunliang Wang,Yanbin Cheng

doi:10.1109/access.2020.2974906

Yanjuan Wu, Yunliang Wang + Show 1 more

Open Access

https://doi.org/10.1109/access.2020.2974906

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Abstract

Aiming at the multi-motor coordinated control of intelligent robots, cross-coupling ring control based on fuzzy theory (CRCF) is proposed. Each motor is cross-coupled with two adjacent motors to form a multi-motor ring network structure that eliminates lag in speed tracking between motors and enhances synchronization between motors. Applying fuzzy control to the cross-coupling control of the proposed control strategy, the speed error and change in speed error of two adjacent motors are used as the input of the fuzzy controller, and its output is used as the input of the second of the two adjacent motors. The fuzzy controller achieves real-time tracking adjustment of the speed error between motors. The controllability and observability of the proposed control strategy are verified by the theorem of the Kalman matrix rank criterion. The external stability and internal stability are verified using an impulse response matrix. The theoretical analysis of the lag is verified by establishing a physical and mathematical model. Finally, a four-motor coordination control system model is built. By comparison with the non-ring network proportional cross-coupling control method, the effectiveness of the proposed control strategy is experimentally verified by the MATLAB/Simulink and the RT-LAB real-time simulation platform.

Highlights

In the past 10 years, considerable attention has been paid to artificial intelligence robotic technology, and a large number of repetitive and complex mechanical procedures have gradually been replaced by intelligent robots [1]–[2]
Motivated by the above discussion, this paper proposes a cross-coupling multi-motor ring network control strategy based on fuzzy control rules (CRCF)
Because the traditional proportional cross-coupling control strategy (TCCS) is a non-ring network structure, the feedback of speed error between motors will produce hysteresis, which will cause the control system to not respond in time; the TCCS is unsuitable for occasions with high synchronization precision requirements

Summary

INTRODUCTION

In the past 10 years, considerable attention has been paid to artificial intelligence robotic technology, and a large number of repetitive and complex mechanical procedures have gradually been replaced by intelligent robots [1]–[2]. Motivated by the above discussion, this paper proposes a cross-coupling multi-motor ring network control strategy based on fuzzy control rules (CRCF). Because the TCCS is a non-ring network structure, the feedback of speed error between motors will produce hysteresis, which will cause the control system to not respond in time; the TCCS is unsuitable for occasions with high synchronization precision requirements

CONTROL METHOD OF CRCF

STABILITY ANALYSIS

ANALYSIS OF LAG PROBLEMS

EXPERIMENTAL SIMULATION

CONCLUSION