基于滑模控制的多电机速度同步偏差耦合控制
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摘要
目的解决传统机械连接方式多电机同步控制存在的机械结构磨损大、控制精度不高等问题。方法基于偏差耦合控制系统结构,与快速非奇异终端滑模控制相结合,提出一种多同步电机速度同步控制策略。结果该算法能够针对电机在不同转速和扰动负载下作出快速响应,减少了扰动对系统的影响,进一步提高了多电机运行时的同步精度。结论该控制算法具有较好的控制性能,能够满足实际生产的需要。
The work aims to solve such problems as large wear and low control accuracy of the mechanical structure existing during the multi-motor synchronous control of the traditional mechanical connection. Based on the structure of relative coupling control system, and combined with the fast nonsingular terminal sliding-mode control, a kind of synchronous control strategy for the multi-motor synchronous speed was proposed. The algorithm could rapidly respond to the motor under different speeds and disturbance loads, which reduced the influence of disturbance on the system and further improved the synchronization accuracy during the operation of multiple motors. The proposed control algorithm has better control performance and can meet the needs of the actual production.
The work aims to solve such problems as large wear and low control accuracy of the mechanical structure existing during the multi-motor synchronous control of the traditional mechanical connection. Based on the structure of relative coupling control system, and combined with the fast nonsingular terminal sliding-mode control, a kind of synchronous control strategy for the multi-motor synchronous speed was proposed. The algorithm could rapidly respond to the motor under different speeds and disturbance loads, which reduced the influence of disturbance on the system and further improved the synchronization accuracy during the operation of multiple motors. The proposed control algorithm has better control performance and can meet the needs of the actual production.
引文
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[12]马文华,张冬梅,刘昕彤.多电机速度同步自适应积分滑模控制[J].包装工程,2017,38(15):121—125.MA Wen-hua,ZHANG Dong-mei,LIU Xin-tong.Adaptive Integral Sliding-mode Control for MultiMotor Speed Synchronization[J].Packaging Engineering,2017,38(15):121—125.
[13]曹玲芝,王宏,谢晓磊.基于非线性滑模面的多PMSM变结构同步控制[J].微特电机,2015,43(6):62—65.CAO Ling-zhi,WANG Hong,XIE Xiao-lei.Sliding Mode Variable Structure Synchronous Control for Permanent Magnet Synchronous Machines Based on Nonlinear Sliding Surface[J].Small&Special Electrical Machines,2015,43(6):62—65.
[14]袁雷,沈建清,肖飞,等.插入式永磁低速同步电机非奇异终端滑模观测器设计[J].物理学报,2013,62(3):61—65.YUAN Lei,SHEN Jian-qing,XIAO Fei,et al.Nonsingular Terminal Sliding-mode Observer Design for Interior Permanent Magnet Synchronous Motor Drive at Very Low-Speed[J].Acta Phys Sin,2013,62(3):61—65.
[15]YUAN L,XIAO F,SHEN J Q,et al.Sensorless Control of High-power Interior Permanent Magnet Synchronous Motor Drives at Very Low Speed[J].IET Electric Power Applications,2013,7(3):199—206.
[2]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(4):54—57.CHENG Si-yi,JI Wen-gang,WANG Zhi-jun.The Crosscoupled Synchronous Control of Multi Servo Motors Based on Fuzzy-PID[J].Journal of Beijing In-stitute of Petro-chemical Technology,2014,22(4):54—57.
[3]王建华,詹国兵.造纸机多电机同同步速度链控制系统研究[J].机械工程与自动化,2015(4):148—149.WANG Jian-hua,ZHAN Guo-bing.Research on Multi-motor Synchronous Speed Chain Control System of Paper Machine[J].Mechanical Engineering and Automation,2015(4):148—149.
[4]曹春平,王波,胥小勇,等.基于神经网络多电机偏差耦合同步控制研究[J].控制工程,2013,20(3):415—418.CAO Chun-ping,WANG Bo,XU Xiao-yong,et al.Research on Relative Coupling Control for Multi-motor Synchronization Based on Neural Network[J].Control Engineering of China,2013,20(3):415—418.
[5]刘福才,刘学莲,刘伟.多级电机传动系统控制理论与应用研究[J].控制工程,2002,9(4):87—89.LIU Fu-cai,LIU Xue-lian,LIU Wei.Synchronous Control Theory and Practical Study of Multimotor Synchronous Driving System[J].Control Engineering of China,2002,9(4):87—89.
[6]李慧,刘星桥,李景,等.多电机同步协调系统控制策略[J].电机与控制应用,2014,41(4):6—11.LI Hui,LIU Xing-qiao,LI Jing,et al.Summary of Multi-Motor Synchronization and Coordination System Control Strategy[J].Machine and Control Applications,2014,41(4):6—11.
[7]LIU G H,KANG M,YOU D T.Neural Network in Verse Control of Two-motor Synchronous System[J].Journal of Jiangsu University Natural Science Edition,2006(1):67—70.
[8]ZHANG P,ZHANG J H,HE D S,et al.Based on Adjacent Cross-coupling of Multi-motor Synchronous Drive[J].Advanced Materials Research,2011,201/202/203:1093—1097.
[9]XU B,SUN F,LIU H,et al.Adaptive Kriging Controller Design for Hypersonic Flight Vehicle via Backstepping[J].IET Control Theory and Application,2012,6(4):487—497.
[10]马志刚,赵志强,王保云.改进型相邻交叉耦合结构的多电机同步控制[J].包装工程,2017,38(3):114—118.MA Zhi-gang,ZHAO Zhi-qiang,WANG Bao-yun.Multi-Motor Synchronous Control of Improved Adjacent Cross Coupling Structure[J].Packaging Engineering,2017,38(3):114—118.
[11]李春文,赵德宗,任军.基于全滑模面的多感应电机速度同步控制[J].系统工程理论与实践,2009,29(10):110—117.LI Chun-wen,ZHAO De-zong,REN Jun.Total Sliding Mode Speed Synchronization Control of Multi Inductions Motors[J].System Engineering Theory&Practice,2009,29(10):110—117.
[12]马文华,张冬梅,刘昕彤.多电机速度同步自适应积分滑模控制[J].包装工程,2017,38(15):121—125.MA Wen-hua,ZHANG Dong-mei,LIU Xin-tong.Adaptive Integral Sliding-mode Control for MultiMotor Speed Synchronization[J].Packaging Engineering,2017,38(15):121—125.
[13]曹玲芝,王宏,谢晓磊.基于非线性滑模面的多PMSM变结构同步控制[J].微特电机,2015,43(6):62—65.CAO Ling-zhi,WANG Hong,XIE Xiao-lei.Sliding Mode Variable Structure Synchronous Control for Permanent Magnet Synchronous Machines Based on Nonlinear Sliding Surface[J].Small&Special Electrical Machines,2015,43(6):62—65.
[14]袁雷,沈建清,肖飞,等.插入式永磁低速同步电机非奇异终端滑模观测器设计[J].物理学报,2013,62(3):61—65.YUAN Lei,SHEN Jian-qing,XIAO Fei,et al.Nonsingular Terminal Sliding-mode Observer Design for Interior Permanent Magnet Synchronous Motor Drive at Very Low-Speed[J].Acta Phys Sin,2013,62(3):61—65.
[15]YUAN L,XIAO F,SHEN J Q,et al.Sensorless Control of High-power Interior Permanent Magnet Synchronous Motor Drives at Very Low Speed[J].IET Electric Power Applications,2013,7(3):199—206.