基于分离设计与优化的多电机自抗扰协同控制  

Multi-Motor Active Disturbance Rejection Cooperative Control Based on Separation Design and Optimization

作　　者：陈阳 李欣 CHEN Yang;LI Xin(Key Laboratory of Opto-Electronic Technology and Intelligent Control Ministry of Education,Lanzhou Jiaotong University,Lanzhou 730070,China;School of New Energy&Power Engineering,Lanzhou Jiaotong University,Lanzhou 730070,China;Gansu Rail Transit Electrical Automation Engineering Laboratory,Lanzhou Jiaotong University,Lanzhou 730070,China)

机构地区：[1]兰州交通大学光电技术与智能控制教育部重点实验室,兰州730070 [2]兰州交通大学新能源与动力工程学院,兰州730070 [3]兰州交通大学甘肃省轨道交通电气自动化工程实验室,兰州730070

出　　处：《微特电机》2020年第3期38-42,47,共6页Small & Special Electrical Machines

基　　金：国家自然科学基金资助项目(51767015);甘肃省科技计划资助(甘肃省自然科学基金资助项目)(18JR3RA117);大型电气传动系统与装备技术国家重点实验室开放基金资助项目(SKLLDJ022016015)

摘　　要：考虑偏差耦合的多电机系统易受到扰动因素的影响,将自抗扰控制技术引入多电机系统中,通过观测转速信号中的扰动作用并进行补偿。基于分离性原理的自抗扰控制技术可以降低控制器参数优化难度,简化非线性函数,在独立设计各部分控制器并进行非线性组合后,通过遗传算法对自抗扰控制器核心参数进行了优化,提高了多电机系统的抗干扰能力和控制性能,同时减少了控制参数和控制器算法的计算量。仿真实验验证了控制器的抗干扰性能和协同性能。Considering the bias coupled multi-motor system is susceptible to the disturbance factors,the active disturbance rejection control( ADRC) technology was introduced into the multi-motor system to observe and compensate the disturbance action in the speed signal. The self-disturbance suppression control technology based on the separation principle can reduce the difficulty of controller parameter optimization and simplify the nonlinear function.After independently designing each part of the controller and performing nonlinear combination,the genetic algorithm was used to control the core parameters of the ADRC controller.The optimization improved the anti-interference ability and control performance of the multi-motor system,and reduced the calculation amount of the control parameters and the controller algorithm. The anti-jamming performance and synergistic performance of the controller were verified on simulation platform.

关 键 词：多电机协同 偏差耦合控制 自抗扰控制技术 分离性原理 遗传算法 

分 类 号：TM301.2[电气工程—电机] TM343