基于一般性动力学建模的多电机复合同步控制  

Multi-motor Composite Synchronous Control Based on Generalized Dynamic Modeling

作　　者：谢斌[1] 雷力[1] 王在相 李叶松[1] XIE Bin;LEI Li;WANG Zaixiang;LI Yesong(School of Artificial Intelligence and Automation,Huazhong University of Science and Technology,Wuhan 430074,Hubei Province,China)

机构地区：[1]华中科技大学人工智能与自动化学院,湖北省武汉市430074

出　　处：《中国电机工程学报》2025年第7期2821-2831,I0033,共12页PROCEEDINGS OF THE CHINESE SOCIETY FOR ELECTRICAL ENGINEERING

基　　金：国家重点研发计划项目(2018ZX04035002)。

摘　　要：多电机同步系统广泛应用于精密制造领域,但是多样化系统结构与差异化同步控制需求,为高通用性同步控制策略设计带来了困难。为克服这些问题,该文建立多电机同步系统的一般性动力学模型,以统一形式的数学模型描述多样化同步控制问题;通过基于运动学的坐标变换,揭示动力学模型内部复杂耦合关系及在耦合效应影响下的同步误差形成机理;通过提出运动解耦设计方法,精确补偿驱动轴与同步轴之间动力学特性差异,并实现系统解耦;基于已解耦系统设计反馈形式的运动跟踪控制器提升系统实时同步性能。仿真与实验结果表明,依据一般性动力学建模分析提出的复合同步控制策略具有明确的可解释性,能够有效提高多电机同步控制性能。Multi-motor synchronization systems have been widely used in precision manufacturing.However,it is difficult to design a generalized synchronous control scheme because of the diversity of system structures and the differences in synchronization requirements.To overcome these problems,we establish a generalized dynamic model of plants in multi-motor synchronization systems,which could describe various synchronous control problems in a uniform expression of the mathematical model.Through the kinematics-based coordinate transformation,the complex coupling relationships in the dynamic model are revealed,as well as the formation mechanism of synchronous errors under the coupling effects.The motion decoupling method is proposed,which precisely compensates for differences in dynamic characteristics between the drive-axis and the sync-axis while decoupling the system.Based on the decoupled system,a feedback motion tracking controller is designed to improve the system’s real-time synchronization performance.Simulation and experimental results illustrate that the composite synchronous control scheme based on the generalized dynamic modeling analysis,which has good interpretability,can significantly improve the multi-motor synchronization performance.

关 键 词：多电机同步 动力学建模 耦合系统 同步控制 解耦控制 

分 类 号：TM32[电气工程—电机]