基于环形交叉耦合结构的多电机比例同步控制

Research on multi-motor proportional synchronization control based on the ringcross-coupling structure

针对多电机同步控制,国内外学者提出了多种算法和策略,但是这些策略对需要转速成一定比例的情况具有一定的局限性。文中在相邻交叉耦合控制策略和环形耦合控制策略的基础上,对比例同步系统相邻耦合误差的数学模型进行变换,将系统转化为近似同步系统,考虑系统各轴同步系数,结合传统交叉耦合控制结构,应用经典控制理论设计跟踪误差控制器和同步误差控制器。同时,针对系统可能出现的不确定性,文中设计了一种参数自整定模糊PID控制器。最后文章应用Matlab/Simulink对环形交叉耦合结构进行了计算机仿真,仿真结果表明,该环形交叉耦合结构模糊PID控制算法收敛速度快、稳定性能好,能很好的实现多电机比例协同控制。

Many strategies and methods about multi-motor synchronous control were proposed by scholars, but these strategies were all about on multi-motor running at the same speed not at the proportional speeds. Therefore, these algorithms that not take scale factors in account have the certain limitation in application. To solve this problem, on the basis of the ring-cross-coupling strategy and the cross-coupling control structure, the mathematical model of adjacent coupling error proportional synchronization system is transformed and the system is transformed into an approximate synchronization system. Then, by considering the system each axis scale factors and combining with the traditional cross-coupling control structure, the tracking error controller and the synchronous error controller were designed according to the theory of classical control.At the same time, aiming at the nonlinear, time-varying of motor parameter and disturbance from the environment, a fuzzy self-tuning PID controller was designed. Simulation and experiment results indicate that the improved ring-cross coupling fuzzy PID control strategy has a quick convergence rate and good stability behavior, and achieve the multi-motor proportional synchronous control effectively.