多电机驱动系统的一致性控制  

Consensus control of multi motor drive systems

作　　者：郭胜辉 尤任阳 GUO Sheng-hui;YOU Ren-yang(College of Electronics and Information Engineering,Suzhou University of Science and Technology,Suzhou 215009,China)

机构地区：[1]苏州科技大学电子与信息工程学院,江苏苏州215009

出　　处：《控制与决策》2022年第3期654-660,共7页Control and Decision

基　　金：国家自然科学基金项目(61703296);江苏省研究生研究与实践创新项目(KYCX21_3022);苏州科技大学科研基金项目(XKZ2018004)。

摘　　要：以单摆系统为例,研究一类多电机驱动系统的一致性控制问题.针对一个由6个直流电动机驱动的单摆系统,提出一种基于比例积分观测器的一致性协议控制设计方法.利用H∞技术,所提观测器可以在估计系统状态的同时,得到未知输入和可测噪声的有效估计,在此基础上构建分布式一致性控制协议,并将求解观测器增益矩阵和一致性增益矩阵转化为求解线性矩阵不等式的问题.最后,对某给定参数的多电动机驱动的单摆系统进行Matlab仿真,结果表明所提方法是正确且有效的.In this paper,the problem of consensus control for a class of multi motor drive systems is studied.For a single pendulum system driven by six direct-current motors,a consensus protocol control design method based on a proportional integral observer is proposed.Based on H∞technology,the proposed observer can estimate the states of the systems and obtain the effective estimation of unknown inputs and measurable noises.On this basis,a distributed consensus control protocol is constructed.The solution of observer gain matrixes and consensus gain matrixes is transformed into solving linear matrix inequality problems.The Matlab simulation of a single pendulum system driven by multiple motors with given parameters shows that the proposed method is correct and effective.

关 键 词：多电动机驱动 一致性控制 比例积分观测器 未知输入 可测噪声 线性矩阵不等式 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]