改进型偏差耦合多电机转速同步控制

Multi-Motor Speed Synchronous Control Based on Improved Relative Coupling Structure

传统偏差耦合多电机同步控制系统中,系统的跟踪性能与同步性能相互耦合,难以兼顾。此外,在多电机系统起动阶段,传统偏差耦合控制结构跟踪误差补偿量较大,在输出限幅的作用下,各台电机电流环输入参考转矩相等,而负载不均导致各台电机加速度不等,致使转速同步误差增大。针对以上问题,该文首先运用线性系统校正原理设计了改进型偏差耦合控制结构,实现了系统的同步性能与跟踪性能的解耦调节;并在转速环部分增加了输出选择器,设计了输出选择函数,将跟踪误差补偿量按一定比例减小至限幅值以下,使得同步误差补偿量的作用更加突出,在多电机系统起动阶段减小了系统同步误差。最后在3台永磁电机平台上进行了仿真和实验,结果验证了该文所提改进型偏差耦合控制结构的有效性和可行性。

In the traditional relative coupling multi-motor synchronous control system,both the tracking performance and synchronization performance could not be considered simultaneously because of the intercoupling of these two performances.Moreover,the tracking error compensation of the speed control loop is large and reference torques of all motors are equal under the influence of output amplitude limitation.Thus,the acceleration of each motor will be unequal if loads are different from each other,which further lead to the increase of synchronization error.To solve the above problems,an improved relative coupling control system is designed in this paper based on the principle of linear system correction,and then the tracking performance and synchronization performance are decoupled.In addition,an output selection function is designed for the speed control loop to reduce the amount of compensation within the output amplitude limitation,which enhances the effect of synchronization error compensation and decreases the synchronization error of the system during the starting period.Finally,the simulations and experiments are carried out on the three permanent magnet motors system.The results verify the effectiveness and feasibility of the proposed improved structure.