基于双观测器的多电机卷绕系统切换滑模控制

Switching Slide Mode Control of Multi-Motor Winding System Based on Double Observer

针对多电机卷绕系统存在的强耦合、张力控制精度低、易受扰动影响等问题,提出一种基于非线性扰动观测器和张力观测器的切换滑模控制方法。以永磁同步电机作为系统的驱动机构,设计非奇异快速终端滑模控制器来实现对电机转速的控制,并设计非线性扰动观测器来估计系统的参数摄动,将估计值用于前馈补偿;对于系统的张力环,采用带有切换函数的自适应滑模控制器,切换函数可以使系统状态更快到达滑模面;并设计张力观测器来精确观测张力大小。仿真实验结果表明:与传统的控制策略相比,所设计的控制策略提高了系统的响应速度、跟踪精度和鲁棒性。

Focusing on the problems of strong coupling, low tension control precision and susceptibility to disturbance in multi-motor winding system, a switching sliding mode control method based on non-linear disturbance observer and tension observer was proposed.The permanent magnet synchronous motor was used as the driving mechanism of the system, a non-singular fast terminal sliding mode controller was designed to control the motor speed, and a non-linear disturbance observer was designed to estimate the parameters perturbation of the system, which was used for the feedforward compensation.For the tension loop of the system, an adaptive sliding mode controller with switching function was adopted, and the switching function could make the system state reach the sliding mode surface faster.A tension observer was designed to accurately observe the tension value.The simulation results show that compared with the traditional control strategy, using the proposed control strategy improves the response speed, tracking accuracy and robustness of the system.