基于模糊自适应反步算法的多电机同步控制  

Multi-motor Synchronous Control Based on Fuzzy Adaptive Backstepping Algorithm

作　　者：丁明解 高键[1] 常红杰 俞朝春 顾加烨 齐亮[1] DING Mingjie;GAO Jian;CHANG Hongjie;YU Chaochun;GU Jiaye;QI Liang(School of Electronics and Information,Jiangsu University of Science and Technology,Zhenjiang 212100)

机构地区：[1]江苏科技大学电子信息学院,镇江212100

出　　处：《计算机与数字工程》2024年第4期978-983,1067,共7页Computer & Digital Engineering

摘　　要：针对多电机系统中,参数摄动和负载转矩变化会影响整个系统的跟踪精度和速度同步问题,论文设计一种模糊自适应反步控制方法。三台电机采用平均偏差耦合的结构,将其速度进行均值处理,然后再通过速度误差补偿器进一步地增强系统速度的同步效果。将模糊自适应反步算法应用到控制结构中,对系统由于扰动所带来的速度误差进行精准调节。在仿真实验中与传统滑模算法、传统的反步算法进行对比分析,研究结果表明:模糊自适应反步控制策略具有精度高、同步误差低、抗干扰性能好等特点。In multi-motor system,parameter perturbation and load torque variation will affect the tracking accuracy and speed synchronization of the whole system,so a fuzzy adaptive backstepping control method is designed.The three motors adopt the structure of average deviation coupling.The average value of the speed is processed and then the synchronization effect of the system speed is further enhanced through the speed error compensator.The fuzzy adaptive backstepping algorithm is applied to the control structure to adjust the speed error caused by the disturbance accurately.Compared with the traditional sliding mode algorithm and the traditional backstepping algorithm in the simulation experiment,the results show that the fuzzy adaptive backstepping control strategy has the characteristics of high precision,low synchronization error and good anti-interference performance.

关 键 词：多电机同步 平均偏差耦合 自适应反步算法 模糊控制 

分 类 号：TM352[电气工程—电机] TP273[自动化与计算机技术—检测技术与自动化装置]