Research on Synchronized Control Strategy of Drone Swarm Garage Side-Pulling Platform

To address the issue of synchronization of dual Permanent Magnet Synchronous Motors (PMSMs) caused by uncertain disturbances in the drone swarm depot’s side-pull platform, a control method based on the combination of BP neural network PID control (BPPID) and Adaptive Fuzzy PID Cross-coupling Control (AFPIDCC), referred to as BPPID+AFPIDCC, is proposed. In the single-motor servo system, the BP neural network PID algorithm is introduced into the speed controller to increase the robustness of a single motor. Between the two motors, a cross-coupling synchronous control method is adopted. On the basis of the traditional cross-coupling, an adaptive fuzzy PID is introduced as a speed compensator to further reduce the synchronization error between the two electric push rods. The experimental results showthat under different full-load conditions at varying speeds, the improvements compared with the classic PID control are 31.7%, 27.2%and 29.2%, respectively. In the cases of one and two UAVs with the same speed load, the improvements compared with the classic PID control are 37.2% and 27.0%, respectively. It is verified that the proposed control method can effectively reduce the position synchronization error of the system and the system has good robustness.