Abstract Multi-motor driving servomechanisms are widely used in modern industry for high-performance applications involving synchronized control of position, speed, acceleration and deceleration. Several synchronous control schemes have been developed to achieve good speed or position tracking regardless of various uncertainties and load torque perturbations. However, these solutions have some disadvantages, namely the costs associated with the necessary interfaces to transmit hardware synchronization signals between multiple drives and difficulty to integrate other tools and communication networks. Recently, Industrial Ethernet network-based control systems are becoming increasingly popular for industrial applications and factory automation. To overcome some of these disadvantages this paper proposes an approach that uses a real-time Ethernet applied to a dual-motor master-slave synchronization system, without introducing significant degradation of speed or position in the application performance. With this solution the position reference from the master encoder is transmitted by the real-time Ethernet instead of the classic hardware interface. This allows the integration of different tools and the explore of other functionalities of electric drives. The performance of the proposed solution was tested using industrial equipment through several practical experiments. It was also compared with an existing solution based on hardware interfaces, to identify advantages, limitations and cost savings of using real-time Ethernet networks solutions in synchronized AC electric drives.

中文翻译：

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使用以太网实时运动 (RTMoE) 的交流电驱动器同步主从闭环控制的性能

摘要 多电机驱动伺服机构在现代工业中广泛用于高性能应用，涉及位置、速度、加速和减速的同步控制。已经开发了几种同步控制方案，以实现良好的速度或位置跟踪，而不受各种不确定性和负载扭矩扰动的影响。然而，这些解决方案有一些缺点，即与在多个驱动器之间传输硬件同步信号的必要接口相关的成本以及难以集成其他工具和通信网络。最近，基于工业以太网网络的控制系统在工业应用和工厂自动化中变得越来越流行。为了克服其中一些缺点，本文提出了一种方法，该方法将实时以太网应用于双电机主从同步系统，而不会显着降低速度或位置的应用性能。通过该解决方案，来自主编码器的位置参考由实时以太网传输，而不是传统的硬件接口。这允许集成不同的工具并探索电力驱动的其他功能。所提出的解决方案的性能通过几个实际实验使用工业设备进行了测试。它还与基于硬件接口的现有解决方案进行了比较，以确定在同步交流电驱动器中使用实时以太网网络解决方案的优势、局限性和成本节约。