基于交叉耦合式控制的马达行走同步性研究  

Research on Motor Walking Synchronization with Cross Coupling Control

作　　者：刘杰 LIU Jie(China Coal Science and Industry Group Taiyuan Research Institute Co.,Ltd.,Taiyuan 030006,China;Shanxi Tiandi Coal Mining Machinery Co.,Ltd.,Taiyuan 030006,China;National Engineering Laboratory of Coal Mining Machinery and Equipment,Taiyuan 030006,China)

机构地区：[1]中国煤炭科工集团太原研究院有限公司,山西太原030006 [2]山西天地煤机装备有限公司,山西太原030006 [3]煤矿采掘机械装备国家工程实验室,山西太原030006

出　　处：《液压气动与密封》2023年第10期59-61,共3页Hydraulics Pneumatics & Seals

基　　金：中国煤炭科工集团自立项目(M2023-QN02)。

摘　　要：探讨了交叉耦合式马达同步控制的可行性。介绍了交叉耦合式的同步控制原理,搭建相应的同步控制数学模型,构建传递函数框图。通过在整机上进行实验,分析交叉耦合式控制在空载和带载两种情况下马达的转速响应曲线、左右马达转速误差曲线,得出结论,交叉耦合式控制马达具有较好的同步性,但会牺牲一定的响应时间,可根据实际情况选择不同控制策略。The feasibility of cross coupling motor synchronization control is discussed.The principle of cross coupling synchronization control is introduced,the corresponding mathematical model of synchronization control is built,and the transfer function block diagram is constructed.Through experiments on the whole machine,the motor speed response curve and the left and right motor speed error curve of cross coupling control under no-load and load conditions are analyzed.It is concluded that the cross coupled control motor has good synchronization,but it will sacrifice a certain response time.Different control strategies can be selected according to the actual situation.

关 键 词：行走机械 交叉耦合式 同步控制 马达转速 

分 类 号：TH137.51[机械工程—机械制造及自动化]