Control method based on speed-position synchronization of multiple motors

The invention belongs to the technical field of automatic control, and particularly relates to a control method based on speed-position synchronization of multiple motors. The deviation coupling synchronization control structure provided by the invention can effectively eliminate position errors while ensuring speed coupling, and realizes speed-position double synchronization. Comprising the steps that an improved deviation coupling multi-motor control structure is adopted; and according to a damping coefficient relationship among the motor systems, adding a relative speed signal of each motor in a speed feedback signal, and dynamically distributing a speed compensation signal among the motors according to a working state of each motor, thereby realizing synchronous control of the multiple motors. 本发明属于自动控制技术领域，尤其涉及一种基于多个电机速度-位置同步的控制方法。本发明所提出的偏差耦合同步控制结构能够在保证速度耦合性的同时，有效地消除位置误差，实现了速度-位置双同步。包括采用改进的偏差耦合多电机控制结构；跟据各个电机系统之间的阻尼系数关系在速度反馈信号中添加各电机的相对速度信号，根据每台电机的工作状态动态地在各电机之间分配速度补偿信号，从而实现多电机的同步控制。