基于新型模糊补偿器的多电机同步控制研究

Research on Synchronization Control of Multi-Motor Systems Based on Novel Fuzzy Compensator

针对伺服转台多电机同步驱动系统中因负载不平衡导致速度不同步且存在跟踪误差的问题,由于系统存在强非线性难以精确建模,因而采用模型的控制方法如偏差耦合PID控制等往往难以获得满意的同步控制效果。为解决上述问题,结合不依赖于模型的模糊控制算法,提出一种同步补偿加跟踪补偿的控制策略。首先,结合伺服转台机械结构说明多电机驱动系统原理;然后根据同步误差与跟踪误差的控制要求,建立多电机同步控制方案;进一步给出了新型模糊补偿的多电机同步控制器设计方法。仿真结果表明,与偏差耦合的传统PID控制相比,具有较快的收敛速度,改善同步性的同时又具有较高的跟踪精度。

In order to solve the problem of speed synchronization and tracking error caused by unbalanced load in servo turntable multi-motor drive system which is difficult to model accurately because of its complex nonlinear feature,it is often hard for conventional model-based methods such as cross-coupling PID to achieve good synchronization performance. Therefore,combing fuzzy control method which does not rely on models,a synchronization control strategy including synchronous compensation and tracking compensation was proposed. The theory of multi-motor drive system was given first based on the servo turntable mechanical structure. Then according to the conditions of synchronization errors and tracking errors,a multi-motor synchronization control scheme was established. Furthermore,the design method of novel fuzzy compensator based synchronization controller was given. Simulation results illustrate that the proposed control method has faster convergent speed,improved synchronization performance and higher tracking precision compared with traditional PID cross-coupling control method.