关于多电机转速同步控制系统仿真研究  

Simulation Study on Synchronous Control System of Multi-motor Speed

作　　者：耿强 徐婷婷 GENG Qiang;XU Ting-ting(The Engineering Center of Advanced Design and Intelligent Control Technology of Motor System in Tianjin,Tianjin 300387,China)

机构地区：[1]天津市电机系统先进设计与智能控制技术工程中心,天津市西青区300387

出　　处：《计算机仿真》2018年第11期319-323,共5页Computer Simulation

摘　　要：传统多电机偏差耦合结构采用的PI速度控制器带宽有限,且控制结构中的同步误差补偿环节未将各电机间的最大同步误差单独补偿给每台电机,从而导致多电机系统在负载突变或受到外部扰动的情况下,每台电机的转速跟踪误差较大,且各电机间的转速同步误差较大。针对这一问题,提出一种改进偏差耦合控制结构。在所提出的控制结构中,首先,通过将传统偏差耦合结构中的PI速度控制器变换为积分滑模控制器(Integral Sliding Mode Controller,ISMC),利用ISMC优良的动态调节性能,以提升控制结构在暂态时对转速跟踪误差的控制能力。其次,通过将各电机间的最大速度同步误差和最大加速度的补偿至每台电机的控制回路,以增强控制结构对转速同步误差的控制能力,达到减小多电机系统暂态同步误差的目的。采用Matlab/Simulink仿真平台对所提出改进控制结构进行了仿真验证,仿真结果验证了所提出结构的可行性与合理性。The traditional multi-motor bias coupling structure uses a PI speed controller with limited bandwidth.And the control structure of the synchronization error compensation link does not compensate for the maximum synchronization error to each motor individually. As a result,the speed tracking error of each motor and the synchronization error among motors are large when the multi motor system is under the condition of load mutation or external disturbance. Aiming at this problem,an improved deviation coupling control structure was proposed. In the proposed control structure,we converted the PI speed controller in the traditional deviation coupling structure into an integral sliding mode controller. Firstly,by using ISMC＇s excellent dynamic adjustment performance,the control ability of the speed tracking error was improved for the control structure in the transient state. Secondly,the maximum speed synchronization error and the maximum acceleration among motors were corrected in the control circuit of each motor. It is aimed at enhancing the speed synchronization error control ability of the control structure,to achieve the purpose of eliminating the multi-motor system transient synchronization error. The improved control structure was simulated on Matlab/Simulink simulation platform. The simulation results verify the feasibility and rationality of the proposed structure.

关 键 词：多电机系统 偏差耦合控制结构 多轴速度协同 积分滑模控制器 

分 类 号：TM351[电气工程—电机]