Fuzzy self-adjusting deviation coupling multi-motor synchronous control method

Abstract

The invention provides a fuzzy self-adjusting deviation coupling multi-motor synchronous control method. The method comprises the steps that a fuzzy self-adjusting filter controller which is formed bycombining a fuzzy controller and a first-order inertial filter and is used for controlling multiple motors is designed; given rotation speed and torque are used as the input of the fuzzy self-adjusting filter controller; softened rotation speed is used as the output of the fuzzy self-adjusting filter controller, wherein the softened rotation speed refers to the given rotation speed actually received by each motor; a lead correction link is introduced to design a lead synchronization compensator, and the response speed of each motor is accelerated while the start synchronization performance isimproved; in the start process and steady-state running sudden load, a synchronization error is calculated; the dynamic response speed characteristics of the motors are compared; and the effectiveness of the lead synchronization compensator to improve the dynamic response speed of the motors is verified. According to the invention, the synchronization performance of multiple motors at the start and the sudden change of the given rotation speed is improved, and the synchronization performance of multiple motors in steady-state sudden load is improved.

Description

technical field [0001] The invention relates to a multi-motor synchronous control method. In particular, it relates to a fuzzy self-adjusting deviation coupling multi-motor synchronous control method for multi-motor speed cooperative control. Background technique [0002] The deviation coupling control structure was proposed by Perez-Pinal in 2003. As shown in Figure 1, this method introduces a synchronous compensator, which makes the difference between the speed of any motor and other motors, and then multiplies the speed of the motor and other motors respectively. The ratio of the moment of inertia of other motors is then summed to determine the amount of speed compensation, so as to reduce the synchronization error between multiple motors and effectively expand the number of motors in the multi-motor system to 3 or more. However, because the synchronous compensator used in the traditional deviation-coupling control structure has a fixed gain, when the load changes greatl...

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Problems solved by technology

[0003] However, in the multi-motor starting process, the deviation coupling control structure still has the following problems: (1) The tracking error of the motor at the initial moment of starting is much larger than the output of the synchronous compensator, so the input value of the speed loop controller is large during the starting process. However, considering the safety requirements of the system, the output of the speed loop controller generally contains a limiting link, so the electromagnetic torque output after passing through the speed loop controller and the limiting link will be in a saturated state for a period of time. At this time, the synchronous compensator It is basically invalid, and the synchronization error is still very large; (2) When the system speed fluctuates greatly, the synchronous compensator with fixed gain cannot adjust each motor in real time according to the disturbance, resulting in the adjustment time of the motor when starting or changing the given speed (3) For a deviation-coupling control system with n motors, the synchronous compensator has n inputs. When a certain motor fails to operate or a new motor needs to be added, the synchronous compensator of each motor needs to be reduced Or increase the input, the scalability is poor

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