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Multi-motor motion synchronization improved adjacent coupling control method based on active disturbance rejection

A multi-motor motion and control method technology, applied in multiple motor speed/torque control, motor control, control system and other directions, can solve the problems of small error, poor synchronous control performance, strong robustness of multi-motor system, etc.

Active Publication Date: 2016-07-06
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0004] In order to solve the problem of poor multi-motor synchronous control performance and unsatisfactory speed synchronization performance under disturbance, the present invention designs a multi-motor synchronous control method based on active disturbance rejection, which uses an improved adjacent coupling control strategy , the feedback of the control signal not only has the speed signal of a single motor, but also has the speed signals of two adjacent motors, and the final synchronous error feedback signal is determined by the coupling coefficient; at the same time, the synchronous controller is designed by combining the integral sliding mode technology, so that The multi-motor system has the characteristics of strong robustness and small error

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  • Multi-motor motion synchronization improved adjacent coupling control method based on active disturbance rejection

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Embodiment Construction

[0089] The present invention will be further described below in conjunction with the accompanying drawings.

[0090] refer to figure 1 - Fig. 6, a multi-motor improved adjacent coupling control method based on ADRC, including the following steps:

[0091] Step 1, establish a permanent magnet synchronous motor mathematical model, and give control parameters;

[0092] 1.1, A surface-mounted permanent magnet synchronous motor is used as a drive motor, and its mathematical model under the quadrature-direct (d-q) axis is:

[0093]

[0094] Among them, u d ,u q respectively represent the d-axis voltage and q-axis voltage of the stator; i d ,i q respectively represent the d-axis current and q-axis current of the stator; ψ d ,ψ q Respectively represent the d-axis flux linkage and q-axis flux linkage of the stator; L d , L q are the inductances of the stator windings on the d and q axes, respectively; ψ f Indicates the flux linkage generated by the permanent magnet of the ...

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Abstract

A multi-motor motion synchronization improved adjacent coupling control method based on active disturbance rejection comprises the steps of establishing a model of a permanent magnet synchronous motor system and initializing the system state and control parameters, designing an improved adjacent coupling control strategy, designing a multi-motor speed controller based on an active disturbance rejection technology, and designing a multi-motor synchronization controller by combining the improved adjacent coupling control strategy and an integral sliding mode technology. The speed consistency problem of a multi-motor synchronization system is solved effectively, the tracking performance and robustness of the system are improved, and stable operation of the multi-motor synchronization system is realized.

Description

technical field [0001] The invention belongs to the field of multi-motor synchronous control methods, and relates to a multi-motor and adjacent coupling synchronous control method based on active disturbance rejection control, especially for multi-motor synchronous control and tracking control with uncertain disturbance items. Background technique [0002] Multi-motor synchronous control system has become more and more important in recent years and has a wide range of applications, such as papermaking, elevators, automatic looms, automatic rolling mills, assembly manufacturing and other fields. In these manufacturing fields, a common feature is that the load is driven by two or more motors. Our purpose is to control the load to achieve accurate tracking of the predetermined trajectory. In the process of multi-motor operation, if there is a large speed synchronization error, it may cause the control system to be unstable or even worse, such as equipment shutdown or damage. ...

Claims

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Application Information

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IPC IPC(8): H02P6/04
CPCH02P6/04H02P2205/07
Inventor 陈强董方陶亮
Owner ZHEJIANG UNIV OF TECH
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