极坐标下双电机传动系统的协调控制

Synchronization Control of Mechanical System with Two-motor Drives Based on Polar Coordinates

提出了一种极坐标下的相对简单的轮廓误差模型,采用反馈线性化技术和PID或滑模控制相结合的方法设计控制器,解决了传统轮廓控制的误差模型复杂、且没有系统的控制器设计方法的问题。对所设计的两种控制器应用于两台永磁同步电机组成的两轴控制系统,仿真结果表明,应用控制器的两轴系统具有良好的性能,能够在有限的时间内实现对输入信号的同步跟踪;将该思想应用于数控系统,有利于改进控制策略,提高控制精度。

A relatively simple contour tolerance model under polar coordinates is presented.Feedback linearity technique is combined with PID or sliding mode control to settle problems that tolerance model complex and lack of controller designing method with conventional contouring control approaches.The two sorts of designed controllers are applied to bi-axis control system which consists of two permanent magnet synchronous motors.Simulation result shows that the bi-axis system with the proposed controller possesses ...