基于变增益偏差耦合和自适应反推滑模的多电机同步控制

Based on variable gain deviation coupling and adaptive backstepping sliding mode control multi-motor synchronous control

中文关键词  多电机同步控制  偏差耦合  变增益  速度补偿  自适应反推滑模控制

英文关键词  multi-motor synchronous control  deviation coupling  variable gain  speed compensation  adaptive backstepping sliding mode control

中文摘要

      针对多电机系统存在跟踪性能差、同步精度低的问题, 本文提出一种基于变增益偏差耦合(VGDC)和自适 应反推滑模(ABSM)的同步控制方法. 首先, 由于受参数变化、外部扰动和负载改变等不确定因素影响而导致单电 机跟踪性能差的问题, 设计ABSM控制算法, 并构建李雅普诺夫函数验证该方法的稳定性和收敛性. 然后, 为了克服 固定耦合增益不能随负载或扰动发生改变, 从而降低多电机同步控制性能的缺点, 利用模型参考辨识法(MRIM)获 得电机的实时转动惯量, 将其发送到速度补偿器获得可变耦合增益, 以此改进偏差耦合控制结构提高多电机系统同 步性能. 最后, 根据实验验证所提出方法可以改善控制系统的跟踪性能, 且可以提高多电机同步控制精度, 具有重要 的实际应用价值.

英文摘要

      Aiming at the problems of poor tracking performance and low synchronization accuracy in multi-motor systems, a synchronization control method based on variable gain bias coupling (VGDC) and adaptive backstepping sliding mode (ABSM) is proposed in this paper. Firstly, due to the problem of poor tracking performance of a single motor caused by uncertain elements such as parametric variation, external perturbation, and load variation, an ABSM control algorithm is designed, and the stability and convergence of the method are proved by constructing Lyapunov functions. Then, in order to conquer the shortcoming that the fixed coupling gain cannot change with the load or disturbance, thereby reducing the performance of multi-motor synchronization control, actual time moment of inertia of the motor is obtained by using the model reference identification method (MRIM), which is sent to the speed compensator to obtain the variable coupling gain. Hereby, the deviation coupled control structure is improved to enhance the synchronization function of the multi-motor system. In the end, the experimental results show that the proposed algorithm can effectively improve the synchronous control effect of multi-motor and has important practical application value for improving the coordinated control accuracy of multi-motor.