Speed synchronization control of multi-wire saw
多线切割机的速度同步控制

The overall structure of the multi-wire saw is introduced and its working principle is explained. To deal with the fluctuation problem of wire tension, a multi-axis synchronization control strategy is put forward based on the speed error on the adjacent axis. In this strategy, the supply/collect spool motor and main motor are considered the control objects. By defining the tracking error and the synchronization error for the multi-axis system, and introducing the speed error on the adjacent axis, we design a torque control scheme based on the dynamic equations of the motor to make the speed error and its derivative tend to zero, thus realizing the multi-axis synchronization. The convergence and the stability of the algorithm are proved by using the Lyapunov function. Simulations and experiments show that this strategy provides not only the high synchronization precision, good stability and high convergence rate, but also the high control precision and small fluctuation range of tension.