双电机螺旋线运动同步控制  

Dual-Motor Synchronous Control of Helical Movement

作　　者：梁永[1,2,3] 张涛[1] 

机构地区：[1]中国科学院长春光学精密机械与物理研究所,吉林长春130033 [2]中国科学院大学,北京100049 [3]中国科学院苏州生物医学工程技术研究所,江苏苏州215163

出　　处：《计算机仿真》2014年第1期264-267,327,共5页Computer Simulation

摘　　要：在多电机同步优化控制的研究中,针对双电机螺旋线运动下,垂直面圆周运动和水平面直线运动的同步问题,提出了交叉耦合控制策略。采用双回路串级校正方法提高单电机稳态性能,并有效抑制了进入速度环的二次扰动。设计了基于同步误差传递函数补偿的交叉耦合控制器,有针对性地减小同步误差。与传统的交叉耦合控制算法相比较,所设计的交叉耦合补偿器不仅能保证旋转运动电机和直线运动电机精度同步,而且有效抑制系统稳态时产生的同步误差波动,同步质量有了较大提高。This study mainly focuses on synchronous control of helical movement. A cross-coupling synchronous control method was put forward to fulfill the synchronism between the rotation motor and horizon motor in helical movement. The cascade control method was taken for improving the stability of each motor, and effectively inhibited secondary disturbance of speed loop. The design of cross-coupling controller based on synchronous errors transfer function pertinently decreases the synchronous errors. When compared with the conventional cross-coupling system, this new structure not only ensures the accuracy of the synchronous errors between the two motor, but also availably restrains the ripple of synchronous errors in the steady-state. By taking this method, the two motors can keep pace with each other and synchronous accuracy improves a lot.

关 键 词：螺旋运动 交叉耦合控制器 同步误差 

分 类 号：TP311.51[自动化与计算机技术—计算机软件与理论]