基于环形耦合策略的多电机同步控制研究

Research on multi-drive synchronization control based on ring coupling strategy

针对目前广泛应用的交叉耦合控制策略在电机数量较多时,其控制结构复杂且补偿规律难以确定的问题,提出了基于耦合补偿原理与同一给定控制相结合的环形耦合控制策略,降低了控制结构的复杂度,建立了环形耦合策略的控制结构,对其有效性进行了数学证明,将环形耦合控制策略应用于多电机传动系统,并与主从控制策略对比,结果表明,环形耦合控制策略具有更高的同步精度和更好的动态性能.

Multi-motor synchronization control strategies are studied in this paper. To reduce the complexity of control structure and the difficulty in determining the compensation law of commonly used cross coupling control strategy when the number of motors is large, a ring coupling strategy based on the thought of the parallel control with error compensation is presented. The control method with the ring coupling strategy is proved.The proposed strategy is applied to the control of a four-motor system, and simulation results show that the proposed control strategy has higher synchronization accuracy and better dynamic performance compared with that of master-slave control strategy..