基于优化同步误差补偿方法的多电机同步控制

Multi-Motor Synchronous Control Based on Optimized Synchronization Error Compensation Method

机器设备的同步控制是运动控制领域的热点研究内容,同步精度对加工质量等要素存在显著影响,但易受扰动影响。针对多电机同步控制精度易受外部扰动等因素影响,提出了一种基于优化同步误差补偿方法的偏差耦合算法。引入增益方程对同步误差补偿值进行动态调节,并应用基于改进交叉和变异算子的自适应遗传算法(Adaptive Genetic Algorithm Based on Improved Crossover and Mutation Operator, ECIM-AGA)对方程中的增益系数取值进行寻优。通过建立4台电机的仿真实验,与传统偏差耦合算法相比,结果表明,所提方法的超调量σ分别降低了29.26%、4.19%、2.77%和33.99%,全局同步误差分别下降了40.27%、11.70%、29.74%和28.04%,具有更佳的同步精度。

The synchronization control of machines is a hot research topic in the field of motion control. The synchronization accuracy has a significant influence on machining quality and other factors, but it is easily affected by disturbance. Aiming at multi-motor synchronous control precision is susceptible to external disturbance and other factors, a relative coupling algorithm based on optimized synchronization error compensation method was proposed. A gain equation was introduced to dynamically adjust synchronization error compensation value, and gain factors in gain equation were optimized by applying Adaptive Genetic Algorithm Based on Improved Crossover and Mutation Operator(ECIM-AGA). By constructing simulation experiment of 4-motors, compared with traditional relative coupling algorithm, the result showed that the overshoot value σ of proposed method are declined 29.26%, 4.19%, 2.77%, 33.99% and overall synchronization error are declined 40.27%, 11.70%, 29.74%, 28.04%, respectively, which has better synchronization precision.