基于改进偏差耦合的多电机同步控制

Multi-Motor Synchronous Control Based on Improved Deviation Coupling

针对多电机同步控制系统中动态响应速度差和同步控制精度低等问题,在偏差耦合控制结构的基础上,提出一种超扭曲非奇异滑模控制器与误差因子速度补偿器相结合的新型控制策略。将新型非奇异快速终端滑模函数与超扭曲算法结合,设计超扭曲非奇异滑模控制器,利用其优良的动态调节性能,提升系统响应速度。引入误差因子概念,重新确定每台电机的速度补偿信号,增强系统中各电机之间的耦合性,在受负载扰动后转速波动小,减小系统同步误差。结果表明,新型控制策略的跟踪性提高了约33%,同步性提高了约40%,具有更好的跟踪性和同步性,可实现多电机的精密协同控制。

Aiming at the problems of poor dynamic response speed and low synchronization control accuracy in the multi-motor speed coordination system,a new control strategy is proposed based on the deviation coupling control structure,which combines the super twisted nonsingular sliding mode controller with the error factor speed compensator.Combining the new nonsingular fast terminal sliding mode function with the super twist algorithm,the super twist nonsingular sliding mode controller is designed to shorten the response time of the system with its excellent dynamic regulation performance.The concept of error factor is introduced,and the speed compensation signal of each motor is redefined to enhance the coupling between the motors in the system.After the load disturbance,the speed fluctuation is small and the system synchronization error is reduced.The results turned out that the new method has strong tracking ability is improved by about 33%,and the synchronization is improved by about 40%.The new control strategy has better tracking and synchronization,and can realize the precise coordinated control of multiple motors.