速度指定位置跟踪双永磁同步电动机的反推控制

Backstepping control for double permanent-magnet synchronous motors with speed-assigned position-tracking

随着工业技术的发展,许多复杂的产品很难利用一台单独的电机进行生产.多电机系统的协调控制已经成为永磁同步电动机控制系统的一项关键技术.首先,将反推控制应用于永磁同步电动机的速度指定位置跟踪控制.速度指定控制方法可以在永磁同步电动机位置控制中增加一个速度控制自由度.其次,利用简化交叉耦合控制方法在双永磁同步电动机同步控制中实现其协调控制.该方法可以在双电机控制中减小由于速度指定控制而导致的异步问题的影响.最后,论文给出的仿真结果证明了设计方法的正确性和有效性.

With the development of the industrial technology, many complex products cannot be manufactured with a single motor. The coordination control for multi-motor systems has become a key technology in permanent-magnet synchronous motor （PMSM） control systems. Firstly, the speed-assigned position-tracking control of PMSM is designed with backstepping control method, in which the speed-assigned position-tracking control is implemented by adding a speed- control freedom in the position control of the PMSM. Secondly, a simplified cross-coupled control （CCC） is employed in the synchronous control of double PMSMs to realize their coordination for reducing the asynchronous effect caused by the speed-assigned method in double-motor control. Simulation results demonstrate the validity and effectiveness of the proposed control design.