A Position Coordinated Control Method for Multiple Brushless DC Motors Based on Dynamic Surface

Abstract

The invention discloses a method for position coordination control of multiple DC brushless motors based on a dynamic surface. A nonlinear interference observer is used to observe and compensate the unmodeled dynamic and external load interference of a single motor, thereby reducing the impact of single motor interference on multi-motor position coordination. Influenced by the control, the present invention adopts the ring coupling strategy to compensate the multi-motor position coordination error. The present invention introduces the DC brushless motor with position coordination error compensation and interference compensation, and designs a sliding mode controller based on dynamic surface self-adaptive inversion. The first-order filter calculates the derivative of the virtual control quantity, eliminates the problem of expansion of the differential term caused by the derivative of the virtual control quantity by the traditional inversion method, and avoids the difficulty in obtaining the control law due to the complexity of the high-order derivative of the coordination error under the ring coupling control strategy The problem is to design an adaptive law for the upper bound of the disturbance observation error, estimate the upper bound of the disturbance observation error, and use the estimated value of the upper bound of the disturbance observation error as the sliding mode switching gain to reduce the chattering level of the inversion sliding mode control.

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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