基于滑模控制的双电机传动位置系统研究  

Dual-Motor Position Transmission System Based on Sliding Mode Control

作　　者：丁飞 陈桂[1] 周磊[1] DING Fei;CHEN Gui;ZHOU Lei(School of Automation,Nanjing Institute of Engineering,Nanjing 211167,China)

机构地区：[1]南京工程学院自动化学院,江苏南京211167

出　　处：《南京工程学院学报（自然科学版）》2021年第1期29-35,共7页Journal of Nanjing Institute of Technology(Natural Science Edition)

基　　金：南京工程学院基金项目(CXY201906)。

摘　　要：双电机联合驱动具有大功率、大转矩等优点,可提高企业在产品制造中的效率、降低成本.针对传动轴上的齿轮间隙会造成传动误差与回程误差、严重影响传动系统位置控制精度的现象,提出一种基于滑模控制的位置控制算法.在建立双电机传动系统模型的基础上,通过指数趋近律来设计位置外环的滑模控制器,减小齿隙对位置传动精度的影响.仿真结果表明,与经典PID控制相比,基于滑模控制的双电机位置传动系统能够在一定程度上克服齿隙非线性的影响,提高传动系统的位置控制精度.A dual-motor joint drive has advantages of high power and high torque,with which efficiency of enterprises in product manufacturing can be improved and costs reduced.The gear gap on a transmission shaft will cause transmission errors,seriously affecting position control accuracy of a transmission system.In response to this phenomenon,a position control algorithm based on sliding mode control is proposed.Based on dual-motor transmission system model,the sliding mode controller of position outer ring is designed by using exponential approach rate to reduce effects of backlash on the position transmission accuracy.The simulation results show that the dual-motor position transmission system based on sliding mode control can overcome influences of backlash nonlinearity and improve the position control accuracy of the system compared with classical PID control.

关 键 词：双电机传动 位置滑模控制器 指数趋近律 

分 类 号：TM33[电气工程—电机]