双机驱动振动系统的麻雀优化滑模同步控制  

Sparrow algorithm optimization sliding mode synchronous control of double motor drive vibration system

作　　者：贾一君 张楠[1] 安兆喆 吴世玲 JIA Yi-jun;ZHANG Nan;AN Zhao-zhe;WU Shi-ling(Beijing Key Laboratory of Performance Guarantee on Urban Rail Transit Vehicles,Beijing University of Civil Engineering and Architecture,Beijing 102616,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,北京102616

出　　处：《机电工程》2022年第6期720-726,共7页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金资助项目(51605022);北京市教育委员会科技计划一般项目(KM202010016002)。

摘　　要：针对双机驱动振动系统中,直流电机与振动质体机电耦合工况下电机转速难以实现同步的问题,提出了一种基于主从控制结构的双电机麻雀优化滑模同步控制算法。首先,建立了该型振动系统的机电耦合模型,借助拉格朗日方程求解了该型振动系统的运动微分方程;随后,采用主从控制结构,并利用麻雀算法对滑模参数进行了优化,实现了对主电机转速与主从电机相位差的有效控制;最后,搭建了MATLAB/Simulink仿真模型,验证了控制系统的稳定性和控制策略的有效性。研究结果表明:基于主从结构的麻雀优化滑模算法对双机驱动振动系统的同步控制效果好,主电机转速与预设转速之差小于0.5 rad/s,主从电机相位差小于0.1 rad;振动系统x方向位移接近于0 m,y方向运动表现为-0.02 m~0.02 m的弦类往复波动,满足振动机械工作的要求。Aiming at the problem that it was difficult to synchronize the motor speed under the electromechanical coupling of the DC motor and the vibrating mass in the dual-motor drive vibration system,a dual-motor Sparrow optimized sliding mode synchronization control algorithm based on the master-slave control structure was proposed.First,the electromechanical coupling model of the type of vibration system was established,and the differential equation of motion of the vibration system was solved with the help of Lagrange equation.Then the master-slave control structure was adopted,and the sliding mode parameters were optimized using the sparrow search algorithm(SSA)to realize the main motor effective control of the phase difference between the speed and the master-slave motor.Finally,a MATLAB/Simulink simulation model was built to verify the stability of the control system and the effectiveness of the control strategy.The experimental results show that the sparrow optimized sliding mode control algorithm based on the master-slave structure has a good synchronous control effect on the dual-motor drive vibration system.The difference between the master motor speed and the preset speed is less than 0.5 rad/s,and the phase difference between the master and slave motors is less than 0.1 rad.The displacement of the vibration system in the x direction is close to 0 m,and the movement in the y direction shows a string-like reciprocating fluctuation of-0.02 m~0.02 m,which meets the requirements of vibrating machinery.

关 键 词：机械振动系统 主从控制结构 滑模控制器 滑模参数 机电耦合模型 MTLAB/Simulink 

分 类 号：TH113.1[机械工程—机械设计及理论] TP241[自动化与计算机技术—检测技术与自动化装置]