升降舞台多电机同步系统的预测函数控制  

Predictive function control of multi-motor synchronous system of up-down stage

作　　者：李炜[1] 邓毅[1] 唐伟强[1] 毛海杰[1] 

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

出　　处：《兰州理工大学学报》2016年第4期80-84,共5页Journal of Lanzhou University of Technology

基　　金：国家自然科学基金(61463029);甘肃省自然科学基金(1310RJYA019)

摘　　要：针对升降舞台系统中升降台因负载扰动、机械间隙等因素造成的不同步现象,提出一种基于预测函数控制与位置偏差耦合的复合同步控制策略.结合预测函数跟踪速度快、鲁棒性好的特性,与并联同步下位置偏差均值补偿同步控制结构来协同改善舞台升降台的同步控制性能.仿真研究表明,升降舞台预测函数控制系统能够确保多电机高性能同步运行,与PI控制系统相比,对参数摄动和外部干扰鲁棒性更强,控制精度更高.Aimed at the phenomenon of asynchrony of up-down platform in up-down stage system due to load disturbance and mechanism clearance, a compound synchronous control strategy is proposed based on predictive function control and position deviation coupling. In connection with the fast tracking and good robustness of the predictive function, the synchronous control performance of the up-down platform of stage is cooperatively improved by using the synchronous control structure with position deviation mean compensation under the parallel synchrony. It is shown by simulative investigation that high-performance synchronous operation will be definitely assured with the predictive function control system of up-down stage. Compared with PI control system, its robustness of anti-parameter perturbation and anti-external interference is even stronger with even more accuracy of control.

关 键 词：升降舞台 多电机同步控制 预测函数控制 鲁棒性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]