基于模型预测的双电机驱动系统协调控制方法  

Coordination Control of a Dual-motor Drive System With the Model Prediction

作　　者：石欢 孙乐[1] 李志刚[1] 常皓 姜旭阳 SHI Huan;SUN Le;LI Zhigang;CHANG Hao;JIANG Xuyang(Nanjing University of Science and Technology,Nanjing 210094,Jiangsu Province,China;Unit 32382 of the Chinese People's Liberation Army,Wuhan 430300,Hubei Province,China)

机构地区：[1]南京理工大学,江苏省南京市210094 [2]中国人民解放军32382部队,湖北省武汉市430300

出　　处：《中国电机工程学报》2022年第23期8740-8749,共10页Proceedings of the CSEE

基　　金：国家自然科学基金项目(51907091)。

摘　　要：该文提出一种基于双电机驱动的伺服方案,以解决摇臂系统传动齿隙引起的问题。齿隙问题的本质是齿轮侧隙降低了等效系统刚度,进而导致负载自激振荡,这在该文的实验中得到证实。双电机驱动的拓扑结构不仅具有结构紧凑、对称的优点,而且还为改善重型摇臂伺服系统性能提供了契机。基于双电机控制系统,在其中2个电机的电流参考指令中注入一个抵消侧隙影响的协调分量,以增强系统刚度,进而抑制到位震荡。在振动抑制的基础上,才能提高伺服系统的动态响应性能。该文采用模型预测控制(model predictive control,MPC)来改善系统的动态性能,使得电机转速响应更快、更准确,尤其在低速的情况下,精确的转速控制直接提高了伺服定位精度。该文通过对比研究,展示了该控制方案的优点。通过仿真对所提出的策略进行研究,并在由永磁同步电机(permanent magnet synchronous motors,PMSM)构成的实验台上对所提方案的控制效果进行验证。This paper presented a dual-motor driven swinging arm system,solving the issues provoked by the backlash of the transmission.The backlash essentially reduced the equivalent system stiffness,inducing the self-excited oscillation,which was exhibited in the experiment of this paper.The dual-motor topology not only has the advantage of the compact and symmetrical structure but also provides the chance to improve the performance of the heavy swinging servo system,where an anti-backlash coordination component is injected into the current references of the two motors,in order to enhance the system stiffness,suppressing the vibration.On basis of the vibration suppression,the model predictive control(MPC)was applied to improve the dynamic performance.The comparative investigation was studied in this paper to show the advantage of the proposed control scheme.The proposed strategy was researched by the simulation and validated on an experimental rig,constructed by the permanent magnet synchronous motors(PMSM).

关 键 词：协调控制 双电机驱动 模型预测 永磁同步电机 摇臂机构 传动间隙 

分 类 号：TM351[电气工程—电机]