均值耦合多电机滑模速度同步控制

A Synchronous Control Method for Mean-Coupled Sliding Mode Speed of Multi-Motor

针对传统阿胶制粒机多电机速度同步控制精度低和控制系统响应速度慢的问题,提出了一种无速度传感器的多电机均值耦合非奇异全局快速Terminal滑模速度同步控制方法。首先,设计转速自适应磁链观测器,避免了加热筒体温度较高导致电机速度传感器检测精度不足的问题;然后,利用均值耦合策略对多电机转速进行耦合控制,实现系统误差全局补偿,保证多电机速度误差同步收敛;其次,通过设计具有非线性函数的非奇异全局快速Terminal滑模面,实现电机速度误差在有限时间内全局快速收敛,并消除了Terminal滑模的奇异问题,提高了单电机速度跟踪精度,降低了多电机间速度同步误差;最后,利用Lyapunov函数证明了观测器和控制器的稳定性及收敛性。仿真与实验结果表明:速度观测器能够在0.4 s内实现速度跟踪,当系统存在负载扰动时,调节时间小于0.05 s,具有良好的跟踪性能和稳态精度;与均值耦合滑模多电机速度同步控制相比,本文控制方法能够在0.15 s内实现对期望转速的跟踪,各电机同步误差调节时间减少了1.2 s,响应速度快,能够有效抑制负载扰动,具有更好的动态调节能力、稳态精度和鲁棒性,可满足阿胶制粒工艺的要求。

A speed synchronization control method without speed sensor for mean-coupled nonsingular global fast Terminal sliding mode of multi-motor is proposed to solve the problems of low speed synchronization control accuracy of multi-motor and slow response speed of control system in traditional asini coii colla granulator.Firstly,an adaptive flux speed observer is designed to avoid the problem of insufficient detection accuracy of the motor speed sensor caused by high temperature of the heating cylinder.Secondly,the mean coupling strategy is used to control the speed of multiple motors to realize the global compensation of system errors and ensure synchronous convergence of speed errors of multiple motors.Furthermore,a non-singular global fast Terminal sliding mode surface with nonlinear functions is designed,and it realizes the global fast convergence of the motor speed error in finite time and eliminates the singularity problem of Terminal sliding mode.In addition,it also improves the speed tracking accuracy of a single motor and reduces the speed synchronization error among multiple motors.Finally,the stability and convergence of the observer and controller are proved by Lyapunov function.Simulation and experimental results show that the velocity observer can achieve velocity tracking within 0.4 s.When there is load disturbance in the system,the adjustment time is less than 0.05 s,and has good tracking performance and steady precision.Compared with the multi-motor speed synchronization control with mean coupled sliding mode,the proposed control method can realize the tracking of the expected speed in 0.15 s,and the synchronous error adjustment time of each motor reduces by 1.2 s to make each motor respond quickly and be able to effectively suppress the load disturbance.Therefore,the system has better dynamic adjustment ability,steady-state accuracy and robustness,and can meet the requirements of asini coii colla granulation process.