Synchronous Control of Multi-Motor Coupled With Pendulum in a Vibration System

In this paper, the synchronous control method for multi-motor coupled with pendulum in a vibration system is introduced. The dynamic model of three eccentric rotors (ERs) driven by three motors rotating in the same direction in the system is firstly established. However, to obtain elliptical trajectory, the ideal synchronization motion (zero-phase difference) of the three ERs should be satisfied. Therefore, the synchronous control strategy for the proposed system is described. Then, the exponential reaching law sliding mode control (ERL-SMC) with adjacent cross-coupling control structure is applied to design the controllers of rotational velocity error and synchronization error. Meanwhile, the stability performance of the controllers is demonstrated by Lyapunov theory and Hurwitz condition. Furthermore, the adaptive method is applied to the ERL-SMC to improve the control accuracy of the system. Finally, computer simulation based on Matlab/Simulink is implemented to validate the effectiveness of the control system; besides, the impact of parameter perturbations in the control system are considered to verification the robustness of controllers related to the velocity and synchronization.