Multimotor synchronous control method for shaftless drive system
                                                                                CHI Xiaoni，ZHOU Kai
              （Youngman Automotive Institute, Hangzhou Vocational & Technical College, Hangzhou 310018， China）

Abstract: In order to solve the problems of poor reliability, low precision and high rejection rate of printing equipment, multimotor synchronous control technology was introduced into shaftless transmission system. The structure and transmission characteristics of web press were studied, the mathematical model of permanent magnet motor was established, and a multimotor speed synchronization control system was designed. The tracking error and synchronization error models ware established by using the adjacent crosscoupling control strategy. An adaptive sliding mode controller was designed, in which the law of adaptive variable speed approach was adopted, and the antishake treatment was carried out to improve the dynamic performance of the system. Matlab software was used for simulation analysis. The results show that the synchronization error between motors can be controlled within ±0.01%, and only 0.05 s is required to enter a stable state. Multimotor synchronous control method has the characteristics of high precision, good antiinterference performance and fast convergence speed.

Key words: shaftless transmission; adjacent crosscoupling control; slidingmode control; synchronous control