多电机同步运动控制技术综述  

Overview of Multi-Motor Synchronous Motion Control Technology

作　　者：叶宇豪 彭飞[1] 黄允凯[1] Ye Yuhao;Peng Fei;Huang Yunkai(School of Electrical Engineering Southeast University,Nanjing 210096 China)

机构地区：[1]东南大学电气工程学院,南京210096

出　　处：《电工技术学报》2021年第14期2922-2935,共14页Transactions of China Electrotechnical Society

基　　金：国家自然科学基金资助项目(51707037)。

摘　　要：多电机同步控制的系统在工业和生产中得到大量的运用,其控制结构与控制策略极大地影响着生产的质量与效率。针对不同的实际应用场景,学者们提出了诸多具体的同步控制方案,对双电机乃至多电机集群系统同步控制的响应速度、同步精度与鲁棒性等方面的研究已成为热点。该文参阅近年来国内外学者对同步控制做出的大量研究,综述典型的同步控制方法,包括交叉耦合、相邻耦合、偏差耦合等控制结构,在仿真的基础上对比三者性能指标的差异,整理基于各个控制结构的控制策略与优化完善,归纳出目前主要面临的研究难点与现有解决方案,最后对多电机同步运动控制技术的发展给出总结与展望。The multi-motor synchronous working system has been widely used in industry and production,and its control structure and control strategy greatly affect the quality and efficiency of production.For different practical application scenarios,researchers have proposed many specific synchronization control schemes.Research on the response speed,synchronization accuracy,and robustness of dual-motor and even multi-motor cluster system synchronization control has become a hot topic.With reference to a large number of researches on synchronization control made by domestic and foreign researchers in recent years,a review of typical synchronization control methods is presented.Cross-coupling,adjacent coupling,relative coupling and other control structures are summarized.Based on simulation,the performance indexes differences of the three main structures are compared.The control strategies and optimization methods based on each control structure are sorted out.Then,the current research difficulties and existing solutions are summarized.Finally,the development of multi-motor synchronous motion control technology is summarized and prospected.

关 键 词：同步控制 控制结构 控制策略 多电机控制 交叉耦合 偏差耦合 

分 类 号：TM32[电气工程—电机]