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Multi-axis servo variable-proportion cooperative control method based on sliding mode variable structure

A sliding mode variable structure and collaborative control technology, applied in multiple motor speed/torque control, control systems, motor control and other directions, can solve problems such as poor variable ratio synchronization performance and deviation

Active Publication Date: 2019-09-17
HUNAN UNIV OF TECH +1
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Problems solved by technology

[0004] The purpose of the present invention is to provide a multi-axis servo variable-proportion cooperative control method based on sliding mode variable structure, so as to solve the problem of poor variable-proportion synchronization performance of multiple motors in the existing system, so that each motor in the system can be stable according to the established motion trajectory And synchronous online adjustment deviation of high synchronous movement

Method used

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  • Multi-axis servo variable-proportion cooperative control method based on sliding mode variable structure
  • Multi-axis servo variable-proportion cooperative control method based on sliding mode variable structure
  • Multi-axis servo variable-proportion cooperative control method based on sliding mode variable structure

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Embodiment 1

[0072] see Figure 1-5 , a multi-axis servo variable ratio cooperative control method based on sliding mode variable structure, including the following steps:

[0073] The first step is to design an improved ring-coupling control structure based on the traditional ring-coupling control structure. The purpose is to make the system meet the complex working conditions of variable ratios of motor speeds.

[0074] Further, the improved ring coupling control structure is adopted to obtain the tracking error of each motor itself;

[0075] Specifically, the tracking error of the jth (j=1,2,...,n) motor of the system itself can be expressed as:

[0076] e j =k j-1 ω d -ω j = ω dj -ω j (1)

[0077] where k j-1 Represents the proportional coefficient between the jth motor of the system and the given speed of the system, ω dj and ω j Represent the input speed and output speed of the jth motor, respectively.

[0078] Further, calculate the tracking error of each motor after co...

Embodiment 2

[0132] see Figure 1-5 , the other content of this embodiment is the same as that of Embodiment 1, the difference is that in order to effectively reduce the chattering problem caused by the control system, the function to replace the function sgn(s j ), where δ is a normal number with a smaller value.

[0133] Depend on figure 2 The simulation results in Fig. 1 show that the tracking error of each motor after compensation converges to zero after about 0.001 second in each sampling period, indicating that the designed controller makes the system have a strong self-regulating ability.

[0134] Depend on image 3 From the simulation results in , it can be seen that the tracking error of each motor converges to zero within 0.0015 seconds in each sampling period, indicating that the system has a fast dynamic response characteristic in the whole process.

[0135] Depend on Figure 4 From the simulation results in , it can be seen that the synchronization error between each mo...

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Abstract

The invention discloses a multi-axis servo variable-proportion cooperative control method based on a sliding mode variable structure, and relates to the field of multi-axis synchronous control equipment. The method comprises the following steps that: the step S1: according to a traditional annular coupling control structure, an improved annular coupling control structure suitable for the existence proportion of multi-axis rotating speeds is designed; the step S2: a state equation of the motor is established according to a mathematical model of the permanent magnet synchronous servo motor based on a rotating coordinate system; and the step S3: a multi-motor synchronous controller is designed by combining the advantages of the sliding mode variable structure control algorithm. The multi-axis servo variable-proportion cooperative control method effectively overcomes the problems of parameter time variation, multivariable, nonlinearity, strong coupling and the like in a complex system, the system has the characteristics of the high dynamic response, the high convergence speed, the strong robustness, the high reliability and the like, the rotating speed of each motor of the system can meet the requirements of variable proportion on complex working conditions, and the cooperative control performance of multiple motors can be effectively exerted.

Description

technical field [0001] The invention relates to the field of multi-axis synchronous control equipment, in particular to a multi-axis servo variable-proportion cooperative control method based on sliding mode variable structure. Background technique [0002] With the continuous improvement of industrialization and automation, multi-motor synchronous control technology has been widely used in multi-axis servo systems, which has attracted the attention of many scholars. At the same time, this technology solves many practical problems in engineering applications and achieves great economic benefits. However, the multi-motor synchronous control system is a multi-variable, nonlinear and strongly coupled complex model. Aiming at the problem of proportional synchronization or even variable-proportional synchronization of each motor in actual engineering applications, how to design a better synchronous control method is a synchronous control technology. It is the key in actual produ...

Claims

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Application Information

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IPC IPC(8): H02P5/50H02P6/04H02P21/00H02P25/022
CPCH02P5/50H02P6/04H02P21/0003H02P21/0007H02P25/022H02P2207/05
Inventor 何静丁进张昌凡缪宇峰蒋翔毛颂安
Owner HUNAN UNIV OF TECH
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