某舵机控制器双电机交叉耦合同步控制研究

Research of Dual Motor Cross-coupling Synchronous Control of a Steering Gear Controller

永磁同步电机在航空航天舵机伺服控制、轨道交通传动等领域成为了主要电机类型,先进的控制理论和技术在行业的应用也日趋成熟,伺服控制器数字化、小型化、智能化逐渐成为了发展趋势。在实际应用中,控制双电机进行同步伺服控制,达到精度要求是工程难点,常用的双电机控制策略主要是并行控制及主从同步控制策略。提出一种简便可行的双电机控制策略的实现方法,交叉耦合控制解决应用的难题。通过在某舵机控制器实际工程应用工况,搭建了主从控制及交叉耦合控制的simulink系统仿真模型,对特殊工况进行了仿真对比,证明了交叉耦合同步控制相比于主从同步控制跟踪策略具有明显优势。

Permanent magnet synchronous motor has become the main motor type in the fields of aerospace steering gear servo control,rail transit transmission,etc.Advanced control theory and technology are also increasingly mature in the application of the industry,and the digital,miniaturized and intelligent servo controller has gradually become the development trend.In practical application,it is difficult to control the dual motors for synchronous servo control to meet the accuracy requirements.The commonly used dual motor control strategies are mainly parallel control and master-slave synchronous control strategies.A simple and feasible implementation method of dual motor control strategy,namely cross-coupling control,is proposed to solve the application problem.The simulink system simulation model of master-slave control and cross-coupling control is built through the actual engineering application condition of a steering gear controller.The simulation comparison of special conditions proves that the cross-coupling synchronous control has obvious advantages over the master-slave synchronous control tracking strategy.