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Mean-value coupling error-based sliding-mode synchronous control method of self-adaptive rapid terminal of multi-motor system

A technology of coupling error and terminal sliding mode, which is applied in the direction of AC motor control, multiple motor speed adjustment, control system, etc., can solve the problem that tracking performance and synchronization performance cannot be taken into account

Active Publication Date: 2018-05-04
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0005] In order to overcome the deficiency that the existing multi-motor system control method cannot take into account the tracking performance and synchronization performance under the action of unknown disturbance, the present invention combines the tracking error and the mean value coupling error to obtain a compound error, and uses the compound error to propose a method based on the mean value Adaptive fast terminal sliding mode synchronous control method for multi-motor systems with coupled errors to ensure fast and stable convergence of the system

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  • Mean-value coupling error-based sliding-mode synchronous control method of self-adaptive rapid terminal of multi-motor system
  • Mean-value coupling error-based sliding-mode synchronous control method of self-adaptive rapid terminal of multi-motor system
  • Mean-value coupling error-based sliding-mode synchronous control method of self-adaptive rapid terminal of multi-motor system

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[0097] The present invention will be further described below in conjunction with the accompanying drawings.

[0098] refer to Figure 1-Figure 4 , an adaptive fast terminal sliding mode synchronization control method for multi-motor systems based on mean coupling error, comprising the following steps:

[0099] Step 1, establish a dynamic model of the multi-motor system, initialize the system state, sampling time and control parameters;

[0100] A multi-motor system consisting of n motors, its dynamic model is described as

[0101]

[0102] define diag[g 1 , g 2 ,..., g n ] is a diagonal matrix of order n, g 1 , g 2 ,..., g n is a diagonal element, then J=diag[J in formula (1) 1 ,J 2 ,...,J n ] means moment of inertia, x=[x 1 ,x 2 ,...,x n ] T Indicates the position, then Indicate acceleration and velocity respectively, b=diag[b 1 ,b 2 ,...,b n ] means viscous friction coefficient, k=diag[k 1 ,k 2 ,...,k n ] means control gain, u=[u 1 ,u 2 ,...,u n...

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Abstract

The invention relates to a mean-value coupling error-based limited time position synchronous control method of a multi-motor system. With regard to the multi-motor system considering disturbance influence, a position tracking error and a mean-value coupling error are combined to obtain a composite error, a sliding-mode synchronous control method of a self-adaptive rapid terminal is designed by thecomposite error and by combining the sliding-mode control method and a self-adaptive method of the rapid terminal, the composite error is used for simultaneously ensuring the position tracking performance and the synchronous performance of the system, the terminal sliding-mode control method is used for ensuring rapid and stable convergence of the system, and the self-adaptive method is used forestimating unknown disturbance of the system. The invention provides the control method which can be used for simultaneously ensuring the position tracking performance and the synchronous performanceof the system and effectively compensating the unknown disturbance of the system, and rapid and stable control of the system is achieved.

Description

technical field [0001] The invention relates to a multi-motor system self-adaptive fast terminal sliding mode synchronous control method based on mean value coupling error, in particular to a multi-motor system synchronous control method with unknown disturbance. Background technique [0002] For a long time, multi-motor systems have played a pivotal role in industrial production, and with the development of modern industry, the requirements for control accuracy and immunity of multi-motor systems are getting higher and higher. From traditional rolling mills, paper machines, printing machines, to the current industrial robots, small quadrotor UAVs, etc. are all applications of multi-motor systems. Generally speaking, these multi-motor systems need to keep the motors running synchronously. Poor synchronization performance will lead to increased defective products, failure to complete specified tasks, and even damage to the equipment itself. Therefore, it is of great signific...

Claims

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Application Information

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IPC IPC(8): H02P23/00H02P5/46
CPCH02P5/46H02P23/0009H02P23/0022
Inventor 陈强余歆祺
Owner ZHEJIANG UNIV OF TECH
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