关于多电机位置同步优化控制仿真研究

Simulation Research on Optimal Control of Multi Motor Position Synchronization

在多电机同步协调控制系统优化的研究中,针对多电机同步协调控制中存在的系统参数摄动及外部不确定性扰动问题,将直接自适应控制方法与相邻耦合同步策略相结合,提出一种不需对受控系统建模的多电机位置同步控制方案,使用直接自适应控制方法,不需要模型参数信息,通过建立误差参考模型推导出增益更新率,另外,采用相邻耦合策略减小了同步误差。同时,用李雅普诺夫定理证明了改进的控制器稳定性和收敛性。仿真结果表明上述方法具有较强的鲁棒性,并有较快的收敛速度,证明了方法对抑制系统参数摄动及外部不确定性扰动的有效性。

In order to deal with parameter perturbation and external disturbance in the control system of multi mo- tor synchronization, combined model free direct adaptive control method with adjacent synchronization strategy, a multi motor position synchronization control scheme is proposed without the controlled system modeling. The scheme uses the direct adaptive control method which does not need model parameter information; the gain update rate is derived by establishing the error reference model; in addition, the synchronization error is reduced by using the adjacent coupling strategy. The stability and convergence of the closed loop control system is demonstrated by the Lyapunov theorem. The simulation results show that the method has strong robustness and faster convergence. It is proved that the method is effective for suppressing the parameter perturbation and the external disturbance of the system.