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Adjacent coupling type multi-motor speed tracking and synchronous control method based on fuzzy disturbance self-resistance and self-adaptive sliding mode

An adaptive sliding mode and adjacent coupling technology, which is applied in the direction of multiple motor speed adjustments, can solve the problems of large chattering of the system and difficulty in obtaining the total disturbance in advance

Active Publication Date: 2016-08-10
ZHEJIANG UNIV OF TECH
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Problems solved by technology

Unfortunately, the upper limit of the total disturbance of the system is difficult to obtain in advance, which leads to a relatively conservative switching gain selection method, that is, the switching gain is selected to be large enough, which leads to a large chattering problem in the system

Method used

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  • Adjacent coupling type multi-motor speed tracking and synchronous control method based on fuzzy disturbance self-resistance and self-adaptive sliding mode
  • Adjacent coupling type multi-motor speed tracking and synchronous control method based on fuzzy disturbance self-resistance and self-adaptive sliding mode
  • Adjacent coupling type multi-motor speed tracking and synchronous control method based on fuzzy disturbance self-resistance and self-adaptive sliding mode

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Embodiment Construction

[0071] The present invention will be further described below in conjunction with the drawings.

[0072] Reference figure 1 -Figure 6, a speed tracking and synchronization control method for adjacently coupled multi-motors based on fuzzy active disturbance rejection and adaptive sliding mode, including the following steps:

[0073] 1.1. The mathematical model of the multi-motor system is expressed as follows:

[0074]

[0075] Among them, p is the number of pole pairs of the motor; ψ f Is the motor rotor flux; J is the moment of inertia of the load; b is the viscous friction coefficient; ω i (t) is the speed of the i-th, i=1,...,n, motor rotor; T L Is the load torque of the motor;

[0076] Equation (1) is simplified to the following form:

[0077]

[0078] among them, u i = I q ; D i =ΔA i u i +ΔB i x i +(C i +ΔC i )T L ;ΔA i , ΔB i , ΔC i Are the changes of parameters;

[0079] 1.2. For adjacent coupling control, the velocity tracking error is defined as:

[0080] e i = X d -x i (3)

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Abstract

The invention discloses an adjacent coupling type multi-motor speed tracking and synchronous control method based on a fuzzy disturbance self-resistance and self-adaptive sliding mode, comprising steps of establishing a mathematic model of a multi-motor system, initializing a system state and a control parameter; designing a multi-motor speed tracking controller based on the fuzzy disturbance self-resistance method; and designing a multi-motor synchronization controller based on the improved adjacent coupling and the self-adaptive sliding mode. The adjacent coupling type multi-motor speed tracking and synchronization control method based on the fuzzy disturbance self-resistance and self-adaptive sliding mode can effectively solve the consistency problem of the motor system, improves the fast convergence performance of the system and enhances the robustness of the motor system.

Description

Technical field [0001] The invention belongs to the field of multi-motor control, and relates to a control method for adjacent coupling multi-motor systems based on fuzzy active disturbance rejection and adaptive sliding mode, in particular to the synchronous control and tracking control of multi-motor systems with uncertain terms . Background technique [0002] In many modern industrial applications, such as papermaking, continuous drum mixers, elevator manufacturing, and textile manufacturing, loads are usually driven by two or more motors simultaneously. These motors are designed to track the specified signal and keep running at the same speed. Synchronization performance is an important indicator for multi-motor system evaluation. It is easily affected by some uncertain items such as parameter changes and external disturbances. If the synchronization error is too large, it will not only affect the production efficiency, but even cause the production line to stop. run. Ther...

Claims

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Application Information

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IPC IPC(8): H02P5/46
CPCH02P5/46
Inventor 陈强董方陶亮郭一军
Owner ZHEJIANG UNIV OF TECH
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