升降舞台系统中多电机同步控制方法  

Synchronous control of multiple electromotors in lifting stage systems

作　　者：李炜[1] 公茂利[1] 毛海杰[1] 龚建兴 

机构地区：[1]兰州理工大学电气工程与信息工程学院,甘肃兰州730050 [2]甘肃工大舞台技术工程有限公司,甘肃兰州730050

出　　处：《兰州理工大学学报》2014年第2期81-85,共5页Journal of Lanzhou University of Technology

基　　金：国家自然科学基金(61364011);甘肃省自然科学基金(096RJZA101)

摘　　要：针对舞台表演中多个升降台因负载扰动、机械间隙等问题造成的不同步现象,在速度并联同步控制的基础上,引入干扰观测器和位置输出耦合补偿,实现对多个升降台的同步控制,并给出能够满足不同升降舞台工程的转速同步误差和转动位移同步误差评价函数,以对同步控制效果进行评价.仿真研究表明,基于干扰观测器的位置输出耦合同步控制方法,不仅具有较好的启动与同步性能,而且对外部扰动和内部参数摄动表现出良好的鲁棒性.Aimed at the non-synchronous problem in multiple lifting stages caused by load variation and backlash of mechanical elements during performance, a method of multi-motor synchronous control combined with speed-parallelled synchronous control and coupled compensation of position output with disturbance observer was introduced to achieve multi-motor synchronous control. A velocity synchronization error evaluation function and a rotational displacement synchronization error evaluation function were given to meet the requirement of different stage projects. The simulation result showed that the method of position output coupled synchronous control based on disturbance observer not only had satisfactory start-up performance, but also showed a good robustness against external disturbance and internal parameters perturbation.

关 键 词：干扰观测器 升降舞台 多电机同步控制 评价函数 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]