基于事件触发的多电机系统一致性控制

Consensus Control of Multi-Motor System Based on Event-Triggered

针对传统环形耦合控制策略中误差传递迟滞现象随着电机数量增加变严重的问题,提出一种基于事件触发的多电机系统一致性控制策略。通过一致性算法获取多电机系统中各电机的转速补偿项,以保证各电机转速一致性的同时,提升系统的跟踪性能。当系统达到稳态后,通过事件触发机制,减少非必要的通信次数,节约通信资源。另外,环形耦合结构可保证在事件触发阈值内系统的同步性能,且触发阈值随时间增加而减小。仿真结果表明,相较于传统环形耦合控制策略,所提策略的多电机系统具有更好的同步性能及跟踪性能,且随着系统中电机数量的增加,误差传递迟滞问题得到明显的改善。同时,事件触发控制有效减少稳态过程中非必要的通信次数。

Aiming at the problem that the hysteresis of error transfer becomes more serious with the increase of the number of motors in the traditional ring coupling control strategy,a consensus control strategy of multi-motor system based on event-triggered is proposed.The speed compensation of each motor in the multi-motor system is obtained by consensus algorithm to ensure the consistency of each motor speed and improve the tracking performance of the system.When the system reaches the steady state,the event-triggered mechanism is used to reduce unnecessary communication times and save communication resources.In addition,the ring coupling structure can ensure the synchronization performance of the system within the event-triggered threshold,and the event-triggered threshold decreases with time.Simulation results show that compared with traditional ring coupling control strategy,the proposed strategy of motor system has better synchronization performance and tracking performance,and along with the increase of the number of motor,the error transfer delay problem is improved.At the same time,the event-triggered control effectively reduce steady-state process unnecessary communication.