模糊自抗扰控制的三电机同步协调系统

Three-motor synchronous control system based on fuzzyactive disturbances rejection control

针对三电机同步协调控制系统存在速度与张力难以解耦的控制问题,分析三电机同步控制系统数学模型,提出一种基于自抗扰控制技术的控制方案;根据三电机同步协调特点,对主电机转速控制采用模糊一阶自抗扰控制器,对两两电机间张力控制采用模糊二阶自抗扰控制器。通过设计的三电机S7-300协调控制系统实验平台,对电机转速控制性能和解耦性能进行实验。实验结果表明,模糊自抗扰控制的三电机同步协调控制系统与传统的PID控制的系统相比较,提高了动态性能和稳态精度,实现了速度与张力的解耦、张力与张力间的解耦,具有快速稳定的控制性能。

Aiming at the speed and tension being difficult to decouple for the three-motor synchronous control system, a mathematical model of three-motor synchronous control system is analyzed, and a control strategy on the basis of active disturbance rejection control（ADRC） technology is proposed. According to the characteristics of three-motor synchronous coordination, it designed a fuzzy one-order ADRC speed controller and a second-order ADRC tension controller. By designing the $7-300 three-motor coordinated control system experimental platform, the speed control performance and the decoupling performance were tested. The results show that three-motor synchronous control system controlled by the fuzzy ADRC im- proves the dynamic performance and steady-state accuracy by comparison to the traditional PID control system. It makes the speed and tension decoupled, and tension and tension decoupled. Its control per- formance is high and stable.