A Passive Decomposition Based Robust Synchronous Motion Control of Multi-Motors and Experimental Verification

Area of Science:

• Engineering
• Control Systems
• Robotics

Background:

• Redundancy design in automotive, construction, and industrial engineering necessitates precise synchronous motion control for multiple motors.
• Existing control strategies often struggle with parametric uncertainty and external disturbances in multi-motor systems.

Purpose of the Study:

• To propose a novel passive decomposition-based robust synchronous control strategy for multi-motor systems.
• To guarantee bounded tracking and synchronous errors for each motor, even under disturbances.
• To develop a generally applicable control framework for an arbitrary number of motors.

Main Methods:

• A passive decomposition technique is employed to separate the original system into locked and shape subsystems.
• A sliding mode control system with robust compensations is designed for each subsystem.
• High-order sliding mode control and separate compensation terms enhance system robustness against uncertainties and disturbances.

Main Results:

• The proposed strategy ensures tracking and synchronous errors are less than 1 degree for sine-wave trajectories and below 1.5 degrees for trapezoidal trajectories.
• Experimental validation on 2/3/4-geared Brushless DC (BLDC) motors demonstrates effectiveness, even with significant dead-zone effects.
• The control strategy shows superiority over master-slave and independent control schemes in performance and robustness.

Conclusions:

• The passive decomposition-based robust synchronous control strategy offers precise and reliable multi-motor synchronization.
• The approach is versatile and applicable to diverse engineering fields requiring coordinated motor control.
• The enhanced robustness ensures consistent performance across various trajectories and motor configurations.