Dual-motor Master-slave Cross-coupling Synchronization Control of Winch Considering Parameters Variations

This paper introduces working process of the once forming leaf-spring rolling mill, and specific to the problems that the two vertical rollers must realize synchronous control in the rolling process, puts forward the master-slave synchronous mode base on fuzzy control to achieve synchronous control. The various performance indicators of master-slave mode hydraulic synchronization control system are superior to the equivalence mode, and obtain satisfactory effect. Finally, fuzzy toolbox based on the MATLAB/SIMULINK simulates the systems respectively, and the simulation results prove the above conclusions.

A master-slave synchronization control strategy based on RBF network adaptive sliding mode control is proposed to solve the problem of lack of effective control strategy and control accuracy in the process of synchronous motion of three horizontal cylinders of multi-directional die forging hydraulic press in VL ball cage forming process. According to the high-order nonlinear mathematical model of the single-cylinder electro-hydraulic servo system, the RBF network adaptive sliding mode controller is designed. The joint simulation model is established by using AMEsim and MATLAB to solve the tracking accuracy and synchronous control accuracy of the system, and the control effect is verified by comparing with the conventional PID control. The simulation results show that the RBF network adaptive sliding mode controller has strong robustness, and the three horizontal cylinder displacement synchronization controllers of the multi-directional die forging press designed in this paper have good synchronization performance.

This paper presents the synchronous efficiency of two synchronous control methods based on a PID controller for the model of two electric motors with variable load. The two synchronization methods used are the Master-Slave method and the Cross-Coupling method. First, a mathematical model of the motor, load variation, and system is established. Then, a combine with Motor parameters throughs identification to conduct system simulation. Simultaneously, the design and synchronous control for this two-motors system were also carried out. Moreover, the characteristics and properties of the Master-Slave and Cross-Coupling synchronization methods are studied and analyzed. The Master-Slave method uses a sample Motor and is followed by a dependent Motor that is operated on the signal of the sample Motor. The Cross-Coupling method is based on the signal error of each motor compared to the desired value and the error between the motors. Finally, the evaluation of the effectiveness of these two methods is made based on the results obtained from simulation and experiment. From simulation and experimental results, it shows that the Master-Slave and Cross-Coupling methods help to solve phase synchronization and error. The difference between the two motors, the Cross-Coupling method also solves the problem of the response time of the two motors and the error at the start of the two motors simply.KeywordsDual motor systemMaster-slaveCross-couplingSynchronization controlPID controller

This study mainly focuses on the synchronization problems of whole-body CT scanner. A master-slave synchronous control method is used to achieve synchronism between the gantry rotation motor and the bed moving motor in helical scanning mode, while the cascade control method is used to enhance the stability of each motor. In order to keep synchronous control, a control law is designed by the eigenstructure assignment method, which insures the accuracy of the signal tracking of the periodic load disturbance during the dual-motor synchronous control, and eliminates the adverse effects brought by periodic load. The proposed algorithm is simulated on MATLAB, and compared with the traditional PID algorithm. In addition, the algorithm is implemented on ARM9 and evaluated on a realistic synchronization control experimental platform designed by us. Both the simulation and realistic experimental results indicate that the algorithm is feasible for helical scanning.

According to the International Classification of Functioning, Disability and Health (ICF), upper limb amputations constitute 16% of total amputations, significantly affecting an individual's ability to grasp objects. This paper proposes the development of an underactuated prosthetic hand tailored for upper limb amputees, introducing a Master-Slave Grasping Control system. The research involves meticulous study and development of suitable underactuated finger mechanisms, servo motors and controllers to enhance grasping and ungrasping activities. Employing SolidWorks and 3D printing technologies, the prosthetic hand is designed to seamlessly replace the lost limb, enabling users to grasp and ungrasp various objects. The innovative Master-Slave Grasping Control system facilitates intuitive and coordinated movements, enhancing the prosthetic hand's functionality. A series of tests is conducted to validate the proposed design, demonstrating its efficacy in achieving natural and versatile grasping motions. This research contributes to the advancement of upper limb prosthetics, addressing the unique challenges faced by amputees and promoting a more integrated and user-centric approach to prosthetic design.

The purpose of this research was to develop a control method that would provide an operator with a noticeable and reasonable sense of reaction force during slow grasping of a soft object. We examined a master-slave control system for a teleoperation construction robot comprised of two joysticks as the master that are used to manipulate the object from a remote location, and an excavator with four degrees of freedom consisting of a fork glove, swing, boom, and arm as the slave. In remote control systems, the operator must feel a reasonable sense of force from the fork glove feedback. We previously proposed a variable-gain velocity control system but found that the reaction force was insufficient and often undetectable to operators' sensory receptors in the initial stage of the grasping task, and the reaction force did not appear as a stepwise relation to the increased driving force when grasping a foam block at a slow speed. Based on these earlier problems, we proposed an improved method that provides a noticeable torque and variable gain that changes with the hardness of the task object. Its effectiveness was verified by a concrete block, tire, and sponge foam block grasping experiment.

A novel predictor-based adaptive robust control (PARC) strategy for multi-motor drive servo systems is proposed in this paper. The proposed controller consists of a predictor-based tracking controller and a synchronization controller. The state predictor is able to update the neural network weights using the prediction error and the load tracking error, which guarantees a smooth and fast estimation for the unknown nonlinearity without incurring high-frequency oscillations. A cross-coupling synchronization control method is adopted in the synchronization controller to achieve motor synchronization with high-precision. Simulation results on four-motor drive servo system have indicated the efficacy of proposed method.

In oil and gas drilling engineering, the anti-phase synchronization of two co-rotating rotors in a tri-motor vibration system is easy to implement owing to its inherent coupling characteristics, which can lead to the exciting force generated by the vibrating system being very small. Thus, an adaptive back-stepping control strategy is proposed to apply in a tri-motor vibrating system and improve the processing capacity of drilling fluid shaker screens. The algorithm developed in this paper is that a complex higher-order nonlinear system is simplified into lower-order subsystems by the adaptive back-stepping control theory, and then the adaptive law for varying load torque is derived by combining with the adaptive theory to regulate the velocity of motors in a closed loop. Firstly, a dynamical model to describe the tri-motor vibration system is established, and the dynamical equations of the vibrating system are derived based on the Lagrange equation. Then, the speed error controller and the phase difference error controller are designed by combining the adaptive back-stepping control algorithm with the master–slave control (MSC) structure. According to Barbalat’s lemma, the stability of the control system is analyzed to verify the feasibility of the control method. Finally, the dynamical equations of the vibrating system are used to establish an electromechanical coupling control model of a tri-motor driven planar system through the Runge–Kutta method, and it verified the reliability of the control strategy, the robustness, and the stability of the control system, respectively, and intuitively revealed the synchronization characteristics of tri-motor vibration control system. The results demonstrate the phase difference among the three motors can be accurately stabilized at zero by a phase synchronization control strategy based on the adaptive back-stepping control method, and the method is simple and fast-speed and the control system has better robustness.

This paper addresses the problem of phase and speed synchronization control of multi-exciters in vibration system considering material influence. Aiming at the synchronous control problem of the exciters, first, the dynamic model of the vibration system excited by multi-exciters considering the force of material is established. Considering the existence of coupling dynamics characteristic between adjacent exciters, an accurate controller combined with adjacent cross-coupling control (ACCC) strategy and an adaptive global sliding mode algorithm (AGSMC) is proposed to control the vibration system. The stability of the ACCC strategy controller is verified through the Lyapunov stability theorem. The ACCC strategy controller proposed in this paper is compared with the master-slave strategy controller by a numerical method. The results show that the proposed ACCC strategy and the AGSMC algorithm controller can reduce speed overshoot during the start-up phase of the induction motor and the chattering when the speed is stable, and improve the control accuracy. The ACCC strategy controller controls the multi-exciters in the vibration system considering the nonlinear force of material, so that the zero phase difference between adjacent exciters moves synchronously. Finally, in the vibration system, the influence of tracking speed and parameter error on the ACCC strategy controller is discussed. It shows that the ACCC strategy controller is robust to system parameter variation and error-disturbance.

To improve the speed synchronization performance of dual switched reluctance motor (SRM) drive with traditional sliding mode control (TSMC), the improved sliding mode control (ISMC) based cross-coupling control strategy is proposed. First, the overall control structure of the dual-SRM drive is represented. Second, the state variable is introduced to reduce the torque fluctuation and adjustment time of the dynamic process of each SRM drive in the system based on the traditional sliding surface and sliding mode reaching law. The adaptive law is introduced into the sliding mode controller to avoid the load torque observation. Third, the ISMC-based cross-coupling control method for the speed synchronization of the dual-SRM drive is designed. The novel sliding surface is proposed considering the speed synchronization deviation. The novel sliding mode reaching law is represented by introducing the state variables. Then, the ISMC-based cross-coupling control method is realized for speed synchronization. The stability is proven by Lyapunov function. Simulations and experiments are implemented to verify the effectiveness of the proposed method.

This paper presents an innovative approach to teleoperation using force feedback manipulators, emphasizing the development of a flexible master-slave control system. By allowing both the master and slave arms to interchangeably control and respond to each other, the system enhances adaptability in remote environments. Through real-time joint and endpoint control modes, users can experience a heightened sense of immersion and accuracy in controlling manipulators. Experimental results demonstrate the system's capability to maintain consistent feedback and alignment, significantly improving remote task execution efficiency and reliability.

This paper presents a robotic catheter system with force sensors, monitor and a master-slave remote control system. We developed micro force sensors and applied them in the system to guarantee the operation safety in intravascular neurosurgery applications, and employed a camera to monitor the operation. Two kinds of force information are obtained through force sensors when the catheter contacted the blood vessel. The experiment shows that the proposed force sensors-based catheter system works well through force feedback and remote control. The system can facilitates the operation and avoid potential damages.

Bivariate active power control of energy storage hydraulic wind turbine

We have presented the newly developed anthropomorphic robot hand named the KH Hand type S and its master slave system using the bilateral controller. The use of an elastic body has improved the robot hand in terms of weight, the backlash of the transmission, and friction between the gears. We have demonstrated the expression of the Japanese finger alphabet. We have also shown an experiment of a peg-in-hole task controlled by the bilateral controller. These results indicate that the KH Hand type S has a higher potential than previous robot hands in performing not only hand shape display tasks but also in grasping and manipulating objects in a manner like that of the human hand. In our future work, we are planning to study dexterous grasping and manipulation by the robot.

The drive system of shearer traction unit is affected by complex load interference and system structure, which results in the problem of unbalanced power of dual-motor of shearer traction unit. A new type of dual-motor frequency conversion control system for shearer traction unit with “common rectification and dual inverters” is designed. And a dual-motor power balance control method based on particle swarm optimization torque cross-coupled control is proposed. The new frequency conversion control system adopts a parallel structure of two inverter circuits with a common DC bus. Particle swarm optimization is used to optimize the PID control parameters of torque cross-coupling control, which solves the problem that it is difficult to gain optimal PID parameters. The control model is established using Matlab/Simulink simulation software. The proposed control method and the master-slave control method are compared by simulation. The results show that the control effect of proposed control method is better synchromization and power balance effect than the master-slave control method. The proposed control method is applied to dual-motor control of shearer traction unit for experimental verification. The results indicate that the proposed power balance control method realizes that the output torque ratio of dual-motor is between 0.9 and 1.1.