一种基于相邻耦合误差的多电机同步控制策略

Synchronization Control Strategy in Multi-motor Systems Based on the Adjacent Coupling Error

在许多现代制造业中,大型高精度、高转速传动系统的多电机同步控制是最为核心的问题之一。现有的同步控制算法大多仅限于双电机同步系统,难以拓展到多电机控制中(n>2)。针对现有多电机系统的同步控制策略难以确定合理的耦合补偿规律及在线计算量大的问题,提出了一种最小相关轴数目的多电机同步控制思想,并设计了基于相邻耦合误差和滑模控制理论的同步控制算法。利用李亚普诺夫函数证明了该算法的收敛性和稳定性。对四轴同步控制系统的仿真结果表明,该控制策略的同步稳定性能高,收敛速度快,因而具有较高的应用价值。

In modern manufacturing, the motion control of multi-axis for high precision, high speed machining is becoming a critical problem. The existed algorithms are mostly applicable to biaxial systems, and seem to be infeasible in multi-axial systems. Aimed at the problems, such as the difficulties in choosing proper coupling rules and huge amounts of calculation on-line using the existed algorithms, a synchronized control idea in multi-motor systems with the minimum number of correlative axis was produced. Based on the adjacent coupling error and sliding mode theory, the synchronization control algorithm was proposed, the convergence and stability of which are proved by use of Lyapunoy function then. Finally, the simulation results of the synchronized system with four axes show that the proposed strategy has a good synchronized stability behavior, a quick convergence rate and so has a great application value.