Position coordination control method for multiple direct current brushless motors based on dynamic surface

Abstract

The invention discloses a position coordination control method for multiple direct current brushless motors based on a dynamic surface. A nonlinear interference observer is adopted for observing and compensating for unmodeled dynamic and external load interference of a single motor, and the influences of single-motor interference on multi-motor position coordination control are reduced; accordingto the method, an annular coupling strategy is adopted for compensating for a multi-motor position coordination error, a self-adaptive inversion sliding mode controller based on the dynamic surface isdesigned for the direct current brushless motors with introduced position coordination error compensation and interference compensation, a first-order filter is adopted for calculating a derivative of a virtual control amount, the problems that the expansion of differential terms is caused when the virtual control amount is derived by means of a traditional inversion method and a control law is difficult to determine due to a complex high-order derivative of the coordination error under an annular coupling control strategy are solved, a self-adaption law is designed for an upper limit of an interference observation error, the upper limit of the interference observation error is estimated, an estimated value of the upper limit of the interference observation error serves as a sliding modeswitching gain, and the inversion sliding mode control chattering level is reduced.

Description

technical field [0001] The invention relates to a position coordination control method of multiple DC brushless motors based on a dynamic surface, and belongs to the technical field of multi-motor coordination control. Background technique [0002] With the development of servo technology in recent years, the application of multi-motor drive systems has become very common, and with the continuous improvement of the quality requirements of various products in production, the requirements for the coordinated operation performance of multi-motor drive systems are also getting higher and higher. . Therefore, the coordinated control of multi-motor drive systems is one of the important topics in the field of motion control research. It is widely used in the automatic control systems of manufacturing and production processes such as textiles, papermaking, drawing, printing and dyeing, and steel rolling. In the industrial production of multi-motor drive systems, the coordination pe...

AI Technical Summary

Problems solved by technology

In order to solve the shortcomings of traditional inversion control that requires accurate modeling information of the motor and cannot overcome disturbances, the present invention combines inversion control with sliding mode control to make inversion sliding mode control robust

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