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

A brushless DC motor and brushless motor technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve problems such as insurmountable disturbances, eliminate differential term expansion, and reduce chattering levels Effect

Active Publication Date: 2018-07-27
NANJING UNIV OF SCI & TECH
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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

Method used

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

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Embodiment Construction

[0125] The present invention will be further described below in conjunction with the accompanying drawings.

[0126] A position coordinated control system for multiple brushless DC motors based on dynamic surfaces, such as figure 1 and figure 2 shown. figure 2 In the block diagram of single-motor control, the unmodeled dynamics and external load disturbance of a single brushless DC motor are observed and compensated by a nonlinear disturbance observer to reduce the influence of single-motor disturbance on multi-motor position coordination control. use figure 1 The ring coupling strategy in the paper compensates the position coordination error among multiple brushless DC motors, figure 2 θ′ in di It is the given value for the position of the ith motor after the loop coupling compensation. final basis figure 1 and figure 2 , the design of the brushless DC motor with the introduction of position coordination error compensation and interference compensation is based on ...

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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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 张登峰庄浩王聪
Owner NANJING UNIV OF SCI & TECH
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