基于自抗扰与观测器的环形耦合多电机协调滑模控制

Coordinated Sliding Mode Control of Ring-coupled Multi-motor Based on Active Disturbance Rejection and Observer

在多电机控制系统中,参数摄动和负载转矩变化会影响系统的跟踪精度和同步性能,且传统的补偿方法难以有效的抑制系统的同步误差。针对以上问题,采用电流补偿的环形耦合结构,设置同步比例系数实现多电机的协调运行,设计自抗扰补偿器对电机进行电流补偿来减小同步误差,同时将非奇异快速终端滑模和扰动观测器用于单台电机的控制。仿真结果表明,所设计的控制策略使系统的鲁棒性和跟踪精度都有所提高;相比于固定增益补偿和PI补偿,系统的同步误差小,抗干扰能力强,实现了高精度的多电机协调控制。

In multi-motor control system,the parameters perturbation and load torque change could affect the tracking accuracy and synchronization performance of the system,and the traditional compensation methods were difficult to effectively suppress the synchronization error of the system.Aiming at the above problems,the ring coupling structure of current compensation was adopted,the synchronization ratio coefficients were set to realize the coordinated operation of multiple motors,the active disturbance rejection compensator was designed to compensate the motor current to reduce the synchronization error,and the non-singular fast terminal sliding mode and disturbance observer were used for the control of a single motor.The simulation results show that the designed control strategy improves the robustness and tracking accuracy of the system;Compared to the fixed gain compensation and PI compensation,the system has small synchronization errors,strong anti-interference ability,and realizes high-precision multi-motor coordinated control.