Auto-disturbance-rejection iterative learning-based multi-motor synchronous control method

A technology of iterative learning and synchronous control, applied in motor generator control, electronically commutated motor control, multiple motor speed regulation, etc., can solve problems such as slow global convergence ability, poor synchronization performance and tracking performance

Inactive Publication Date: 2016-12-07
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0005] In order to solve the problems of poor synchronization performance and tracking performance and slow global convergence ability of a multi-motor system with uncertain items, so that each motor can stably track a given signal and run at a consistent speed, the present invention A multi-motor synchronous control method based on ADRR

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  • Auto-disturbance-rejection iterative learning-based multi-motor synchronous control method
  • Auto-disturbance-rejection iterative learning-based multi-motor synchronous control method
  • Auto-disturbance-rejection iterative learning-based multi-motor synchronous control method

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Embodiment Construction

[0066] The present invention will be further described below in conjunction with the accompanying drawings.

[0067] refer to Figure 1-Figure 7 , a multi-motor synchronous control method based on ADRC iterative learning, including the following steps:

[0068] Step 1, establish a multi-motor system mathematical model, initialize the system state and control parameters, the process is as follows:

[0069] 1.1, the multi-motor system model is as follows:

[0070] ω · i ( t ) = 1.5 Ωn p ψ f J i q - Ω J ω i ( t ) - 1 J...

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Abstract

The invention provides an auto-disturbance-rejection iterative learning-based multi-motor synchronous control method, which comprises the steps of building a mathematical model of a multi-motor system and initializing a system state and a control parameter; designing a multi-motor speed tracking controller on the basis of an iterative learning method; and designing an iterative expansion state observer by combining an auto-disturbance-rejection control strategy, and effectively estimating an unknown term in the system and compensating the unknown term through repeated iteration. An improved adjacent coupling strategy is provided to design multi-motor synchronous control. The problem of the speed consistency of the multi-motor system can be effectively solved; the fast convergence performance and the tracking accuracy of the system are improved; and the robustness of the multi-motor system is strengthened.

Description

technical field [0001] The invention belongs to the field of multi-motor control, and relates to a deviation-average coupled multi-motor system control method based on active disturbance rejection iterative learning, in particular to synchronous control and tracking control for multi-motor systems with uncertain items. Background technique [0002] In daily industrial production activities, it is common for a single motor to drive a load. However, in some occasions, a single motor needs to pay a high economic cost. For example, for a load with a large inertia, we need to separately design a high-horsepower motor to drive it. This not only requires high costs, but also does not conform to the current trend of streamlined production of industrial equipment. In some special industrial occasions, multi-motor synchronous drive control still plays an irreplaceable role, such as multi-pass straight wire drawing machines, shaftless printing machines, and film winding machines. In t...

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Application Information

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IPC IPC(8): H02P5/46H02P21/13
CPCH02P5/46H02P21/13
Inventor 陈强董方卢敏陶亮骆一堃
Owner ZHEJIANG UNIV OF TECH
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