基于超扭曲非奇异滑模的多电机协调控制  

Multi-motor Coordination Control Based on Super-twisting Nonsingular Sliding Mode

作　　者：王珏 金涛涛[1] 张军[1] WANG Jue;JIN Tao-tao;ZHANG Jun(Beijing Key Laboratory of Performance Guarantee on Urban Rail Transit Vehicles,Beijing University of Civil Engineering and Architecture,Beijing 100044,China)

机构地区：[1]北京建筑大学城市轨道交通车辆服役性能保障北京市重点实验室,北京100044

出　　处：《科学技术与工程》2020年第8期3257-3262,共6页Science Technology and Engineering

基　　金：国家自然科学基金(51775031);北京市科技计划课题(Z161100002216005);北京建筑大学基本科研业务费项目(X18145)。

摘　　要：针对多电机控制系统存在响应性和同步性差的问题,以四轮独立驱动公铁两用车转向系统为被控对象,提出一种多永磁同步电机(permanent magnet synchronous motor,PMSM)协同控制策略。该控制策略采用偏差耦合的电同步控制方式,对多电机转角误差进行补偿,并提出一种新型非奇异快速终端滑模函数,同时结合超扭曲算法,设计超扭曲非奇异滑模控制器,实现多台永磁同步电机协同控制。基于MATLAB/Simulink平台搭建系统的仿真模型,并基于自主研发的纯电动公铁两用车进行实车试验。试验结果表明,该超扭曲非奇异快速终端滑模控制器可有效减小转向系统控制过程中所产生的跟踪误差、同步误差及系统抖振,缩短系统的响应时间,提高系统的控制精度,达到较为理想的控制效果。Aiming at the problem of poor responsiveness and synchronization of multi-motor control system,a multi-PMSM cooperative control strategy was proposed,which took the steering system of four-wheel independent drive road-rail vehicle as the controlled object.A new nonsingular rapid terminal sliding mode function combined with super-twisting algorithm was proposed.A super-twisting nonsingular sliding mode controller was designed to realize the coordinated control of multi-PMSM.The simulation model of the system was built on the platform of MATLAB/Simulink.The vehicle experiment was carried out based on the self-developedelectric road-rail vehicle.The experimental results show that the super-twisting nonsingular rapid terminal sliding mode controller can effectively reduce the tracking error and synchronization error in the steering system,shorten the response time of the system,improve the control accuracy of the system,and achieve a better control effect.

关 键 词：公铁两用车 偏差耦合 非奇异终端滑模 超扭曲算法 Lyapunov稳定理论 

分 类 号：U273.98[机械工程—车辆工程] TP273.3[交通运输工程—载运工具运用工程]