全电式水下阀执行器多电机协同控制策略研究

Multi-motor Collaborative Control Strategy for All-electric Subsea Valve Actuator

水下采油树全电执行器多电机协同工作时,由于误差等导致减速器发生振动。为了减少同步误差导致传动系统发生振动的情况,通过对多电机协调策略进行研究,从控制算法层面提出了一种基于改进粒子群算法优化模糊PI补偿器的多电机协同控制策略。使用Logistic混沌映射并结合中心耦合游移的策略改进粒子群算法,采用改进后的算法离线优化模糊控制器的隶属度函数。为了得到最小的同步误差,在适应度评价函数中引入同步误差项。为了验证该方案,建立了Simulink/Adams联合仿真模型,在Adams中以轴套力柔性连接替换理想约束,建立了联合仿真模型和传动机构动力学模型,对传动机构的振动情况进行了仿真。研究结果表明,该方法通过减小同步误差,能有效减轻传动系统的振动情况。所得结论可为多电机协同控制提供参考。

When multiple motors of all-electric actuator in subsea christmas tree work together,the vibration of the retarder will occur due to error and other reasons.In order to reduce the vibration of transmission system caused by synchronization errors,the multi-motor coordination strategy was studied,and a multi-motor collaborative control strategy based on improved particle swarm algorithm optimization fuzzy PI compensator was proposed from the control algorithm level.With the help of Logistic chaotic map,combined with a strategy of center coupled walk,the particle swarm algorithm was improved,which was then used to optimize the membership function of the fuzzy controller offline.In order to obtain the minimum synchronization error,a synchronization error term was in-troduced into the fitness evaluation function.Finally,a Simulink/Adams joint simulation model and a dynamic model of transmission mechanism were built by replacing the ideal constraints with flexible connections in Adams to conduct simulation on the vibration of the transmission mechanism.The results show that,by reducing synchroniza-tion error,this method can effectively reduce the vibration of the transmission system.The conclusions provide ref-erence for multi-motor collaborative control.