基于内模与偏差耦合复合的舞台调速吊杆群同步控制方法

Synchronous control method of compound stage speed regulation boom group based on internal model with relative coupling

以舞台调速吊杆群高精度协调同步运行为目标,针对吊杆运行过程中易受负载扰动和电机参数摄动影响同步效果的问题,在并联同步控制的基础上,用内模控制器取代常规PI跟踪控制器,并与偏差耦合控制方法相结合,构建了基于内模与偏差耦合复合的舞台调速吊杆群同步控制方案,以内模控制增强系统的鲁棒性、位置均值偏差耦合补偿控制改善系统的精度.最后选用3组调速吊杆的同步控制对文中方法进行有效性仿真验证,结果表明,该方法在保证系统具有优良抗干扰性能的同时,较传统PI位置耦合控制具有更好的跟随性能及同步精度.

Taking high-precision coordination synchronization operation of stage speed-regulation boom group as investigation goal and aimed at the problem that the synchronization of boom movement is easy to be affected by load disturbance and motor parameter perturbation, a synchronous control option of stage speed-regulation boom group with internal model and relative coupling was made on the basis of parallel synchronous control, where the conventional PI follow-up controller was replaced by internal model controller and the relative coupling control method was incorporated. The use of internal model control and mean position deviation coupling compensation control would improve the robustness and the precision of the system respectively. Finally, three groups of speed-regulation boom synchronous control Were selected as the example to verify the validity of the method presented in this article. The result showed that, compared with the relative coupling control with traditional PI controller, the system on this method exhibited fine disturbance rejection ability and in the meantime better follow-up performance and synchronous precision.