High Precision and Fast Synchronization Fuzzy Position FPGA Based Controller for Smart-Multi-Motor System

摘要

The multi-motor system (MMS) is an electromechanical system that finds application in various fields such as robots, phased array antennas and industrial machinery. It comprises a multitude of servo motors that work collaboratively to accomplish predetermined tasks. However, with the continuous upgrading and optimization of the system, the number of motors incessantly increases, resulting in added strain on the communication network, consumption of control resources, and rotation accuracy, which affect the synchronization of the system. In this paper, we proposed a novel real-time control strategy based on a heterogeneous field programmable gate array (FPGA) gateway to ensure the communication performance among networks. Simultaneously, we designed smart servo motors (SSM) with self-control, which diminish the requirements for substantial control resources. In order to expand the applicability of our strategy in various industry scenarios, a fuzzy control algorithm was inserted into the SSM to optimize the mediation process of the motor rotation, accelerating the response time and facilitating adjustments of parameters. By combining the three mentioned above, we have developed a Smart-Multi-Motor system (SMMS). Additionally, a series of tests are conducted to verify the SSMs' performance and demonstrate the system's feasibility. The experimental results shows that the proposed strategy not only guarantees the synchronization of MMS but also have high-precision position control performance.