基于模糊PID控制器的多电机交叉耦合控制同步控制系统设计
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摘要
针对多台伺服电机同步控制精度难以保证的问题,设计了基于运动控制卡的多轴电机控制系统。该系统以运动控制卡为核心,通过以太网与上位机通信,并利用硬线信号实现对多个伺服驱动器的同步控制。采用交叉耦合控制设计多电机同步控制器,实现对多电机同步位置误差的检测和补偿修正,利用模糊PID控制算法对控制参数进行整定,以提高系统的同步精度。在负载扰动、阶跃输入以及斜坡输入作用下,通过MATLAB对提出的算法进行了仿真实验。实验结果标表明,交叉耦合控制具有良好的抗扰动性能与良好的同步性能,采用模糊控制器对PID参数进行整定后,对系统的超调量起到了明显的优化作用。
Aimed at the difficulty for high synchronous control accuracy of multi-motor,a multi-axis motor control system based on motion control card was designed.The motion control card was used as the core,communicating with the host computer by Ethernet.The hardwire signal was used to realize the synchronous control of multi servo drivers.Meanwhile,cross-coupled control was used to design the multi-motor synchronous controller,which realized the measurement and compensation of synchronous position error.Fuzzy PID control method was adapted to tune the control parameters to improve the synchronous accuracy.Simulation test performed by MATLAB verified the proposed algorithm with load disturbance,step input and ramp input.Test results indicated that,the cross-coupled controller had good anti-distance performance and synchronous performance.The parameter tuning using fuzzy controller had optimized the overshoot.
Aimed at the difficulty for high synchronous control accuracy of multi-motor,a multi-axis motor control system based on motion control card was designed.The motion control card was used as the core,communicating with the host computer by Ethernet.The hardwire signal was used to realize the synchronous control of multi servo drivers.Meanwhile,cross-coupled control was used to design the multi-motor synchronous controller,which realized the measurement and compensation of synchronous position error.Fuzzy PID control method was adapted to tune the control parameters to improve the synchronous accuracy.Simulation test performed by MATLAB verified the proposed algorithm with load disturbance,step input and ramp input.Test results indicated that,the cross-coupled controller had good anti-distance performance and synchronous performance.The parameter tuning using fuzzy controller had optimized the overshoot.
引文
[1]程斯一,纪文刚,王志俊.基于模糊PID的多伺服电机交叉耦合同步控制[J].北京石油化工学院学报,2014,22(04):54-57.
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[2]王建红,陈耀忠,陈桂,等.基于交叉耦合控制的双电机同步控制系统研究[J].南京理工大学学报,2017,41(06):693-697.
[3]高恒路,桑勇,邵龙潭.同步控制策略及其典型应用的研究[J].液压气动与密封,2012,32(05):1-7.
[4]祝淑萍,刘德君.单神经元PID双直线电机同步控制[J].微计算机信息,2007,(16):84-85,62.
[5]曹玲芝,李春文,牛超,等.基于相邻交叉耦合的多感应电机滑模同步控制[J].电机与控制学报,2008,(05):586-592.
[6]PEREZ-PINAL F J,CALDERON G,ARAUJO-VARGASI.Relative coupling strategy[C].proceedings of the IEEEInternational Electric Machines&Drives Conference,2003.
[7]PEREZ-PINAL,NUNEZ C,ALVAREZ R,et al.Comparison of multi-motor synchronization techniques[C].proceedings of the Conference of the IEEE Industrial Electronics Society,2004.
[8]SHIM H M,HONG J P,CHUNG S B,et al.A powered wheelchair controller based on master-slave control architecture[C].proceedings of the IEEE International Symposium on Industrial Electronics,2001.
[9]PAYETTE K.Synchronized motion control with the virtual shaft control algorithm and acceleration feedback[C].proceedings of the American Control Conference,1999.
[10]梅荣军.高速高精密双轴同步控制研究[D]:合肥:中国科学技术大学,2014.