船舶伺服排缆Lebus滚筒多电机控制的研究  

Multi-motor Control of the Lebus Roller of the Ship's Servo Cable

作　　者：鲁润[1] 陈福康[1] 

机构地区：[1]上海海事大学商船学院,上海201306

出　　处：《船电技术》2017年第4期10-14,共5页Marine Electric & Electronic Engineering

基　　金：国家自然科学基金项目(编号51179102)

摘　　要：针对船舶伺服排缆Lebus滚筒多电机协同控制易受负载扰动和电机参数摄动影响的问题,本文提出了基于并行控制、相邻耦合控制、耦合误差同步控制的多电机动态协同控制系统,解决驱动电机动态偏差导致的准确性不足的问题;针对系统较强的非线性及不确定性,采用基于最小相关轴处理方法设计系统消除跟踪误差和同步误差控制器,将每一轴电机的跟踪误差和相邻轴电机的同步误差相结合,减少控制器数量。设计了船舶伺服排缆Lebus滚筒3轴协同控制系统,仿真结果表明,该方法具有较强的鲁棒性、动态快速性和同步精度。According to the ship＇s servo cable-arranging Lebus roller, multi-motor coordinated control is easily affected by the load disturbance and parameter perturoauon effect of proposes the multi motor synchronous coordinated control system of with parallel coupling control and coupling error control to solve the question of the accuracy caused by the drive motor dynamic deviation. For strong nonlinear systems and uncertainty, the system is designed to eliminate tracking error and synchronization error by the use of minimum shaft related processing method, so that by the combination of tracking error of the motor to each shaft and synchronous error of the motor to adjacent shaft, the number of controllers is reduced, The 3 axis coordinated control system of the Lebus roller of the ship ~ servo cable is designed. The simulation results show that the method is robust, dynamic, fast and accurate.

关 键 词：船舶 伺服排缆 Lebus滚筒 多电机控制 同步控制 

分 类 号：TM921.541[电气工程—电力电子与电力传动]