基于命令滤波的多电机协同控制设计及多轴辊压系统应用

Command Filter Based Multi-Motor Synchronous Control Design and Application in Multi-Axis Roller Pressing System

针对多电机同步驱动的调速及伺服系统高精度协同控制问题,设计了基于命令滤波反步技术及虚拟主轴同步控制策略的高性能协同控制方法。结合永磁同步电机动力学模型与直轴电流闭环为0的矢量控制策略,构建交直轴解耦的简化多电机模型。基于命令滤波反步技术,设计多电机协同控制器,避免传统反步法控制器设计过程中的项数爆炸问题。进一步采用虚拟主轴同步控制策略设计多个电机之间的同步反馈信号,避免“伺服打架”现象产生的额外能量损耗及机械结构损伤。将所设计控制方法应用在烟草多轴辊压系统中,通过实际生产数据验证了所提方法的有效性与优越性。

Aiming at the high accuracy speed tracking and servo control problem in multi-motor systems,a command filter and virtual shaft based high performance synchronous control method was designed.Combining the dynamics of PMSM with id=0 vector control strategy,the simplified decoupling multi-motor system dynamics model was established.The command filtered backstepping technique was utilized to design the synchronous controller avoiding the item explosion phenomenon of traditional backstepping approach.The virtual shaft based synchronous feedback signals among various motors were designed to avoid extra energy loss and potential mechanical damage causing by rotating speed mismatch.The effectiveness and advantages of the designed method were validated through practical production data in the tobacco multi-axis roller pressing system.