立体车库搬运器双电机同步控制算法的研究与分析

Research and Analysis of Dual Motor Synchronous Control Algorithm for Stereo Garage Transporters

立体车库搬运器作为立体车库的重要组成装置可实现存取过程中的升降与旋转功能,因此提高双电机同步控制系统的控制精度对车库整体性能的提高具有重要意义。针对在传统PI控制算法下运行的双电机同步控制系统存在的主从电机响应曲线误差大、控制补偿能力弱等问题,联合三角形隶属度函数提出了一种适用于立体车库搬运器双电机同步控制系统的分级自适应Fuzzy-PI算法,并运用Simulink建立以永磁同步电机(PMSM)为控制对象的双电机同步控制系统仿真模型,将其与滑膜变结构控制算法控制效果进行对比分析,仿真结果表明,改进后的分级自适应Fuzzy-PI算法极大地提高了主从电机速度与转矩的动态调节能力与同步响应精度。

As an important component device of a three-dimensional garage,the three-dimensional garage transporter can realize the lifting and rotating functions in the access process.Therefore,it is of great significance to improve the control accuracy of the dual-motor synchronous control system to improve the overall performance of the garage.Aiming at the problems of large response error of the master-slave motor and weak control compensation ability in the dual motor synchronous control system operating under the traditional PI control algorithm,a dual motor synchronous control suitable for the three-dimensional garage transporter was proposed in conjunction with the triangle membership function.The system’s hierarchical adaptive fuzzy-PI algorithm,and simulink was used to establish a simulation model of a dual-motor synchronous control system with PMSM as the control object.The simulation results show that the improved hierarchical adaptive fuzzy-PI algorithm greatly improves the dynamic adjustment ability and synchronization response accuracy of the speed and torque of the master and slave motors.