基于动态补偿的多电机控制算法

Multi-motor control algorithm based on dynamic compensation

多电机协调控制达到转速一致是电机控制中的一个关键难题,外加负载变动和电机参数变化时会引起电机性能的下降,达不到良好的控制效果。为使电机间保持转速同步,建立了永磁同步电机d-q坐标系下的矢量控制数学模型,基于转速跟随控制,提出一种基于单神经元PID的变增益速度补偿器进行偏差耦合控制。在MATLAB/Simulink建立了3台永磁同步电机的仿真模型。仿真结果表明,与传统PID固定增益速度补偿器算法相比,单神经元PID的变增益速度补偿器具有更强的鲁棒性以及更快的收敛性。

A key problem in the motor control is to achieve the same speed in the multi-motor coordinated control achieves the same speed.When the load changes and the motor parameters change,the motor performance will be degraded,and will not be reach a desirable control effect.In order to keep the speed between the motors synchronized,the mathematical model of vector control for the permanent magnet synchronous motor d-q coordinate system is established.Based on the speed following control,a variable gain speed compensator based on the single neuron PID is proposed for the deviation coupling control.The simulation model of three permanent magnet synchronous motors is established in MATLAB/Simulink.The simulation results show that compared with the traditional PID fixed gain speed compensator algorithm,the variable gain compensator of single neuron PID has stronger robustness and faster convergence.