基于电子虚拟总轴的舞台机械控制系统多电机同步控制

Multi-motor Synchronous Control of Stage Mechanical Control System Based on Electronic Virtual Line-shaft

针对舞台控制系统中多个升降台因负载多变、机械间隙等因素引起的不同步问题,提出了一种基于电子虚拟总轴的同步控制方式。该方案以虚拟总轴控制模拟机械总轴的机械性,既保留了机械总轴控制方式固有的同步特性,又具有主令参考同步控制方式中各单元间完全没有耦合,任一单元的扰动不会影响其它单元运动状态的优点。实验研究表明,基于电子虚拟总轴的同步控制方法不仅具有较好的启动与同步性能,而且对外部扰动和内部参数摄动表现出良好的鲁棒性。该方案满足系统的速度和位置要求,两电机的同步误差在3mm以内。

Aiming at the probIem of muItipIe Iifts cannot be synchronized,caused by the variation of Ioad,mechanicaI cIearances and other factors,in stage controI system,a synchronization controI scheme based on eIectronic virtuaI Iine-shaft is proposed.VirtuaI-shaft controI simuIates the mechanicaI feature of mechanicaI Iine-shaft,and maintains the synchronization characteristic of mechanicaI Iine-shaft,the feature of no coupIing in different motor in master reference synchronized controI, and an advantage is that disturbance of any motor wiI not affect the motion of other motor.