High-performance cooperative control method for multi-motor system based on sliding mode variable structure

A sliding mode variable structure and cooperative control technology, which is applied in multiple motor speed/torque control, motor generator control, electronic commutation motor control, etc. The effect of response characteristics, high reliability, and strong synergy

Pending Publication Date: 2020-09-01
HUNAN UNIV OF TECH
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Problems solved by technology

[0005] The present invention aims at the problem that in the existing multi-motor system control technology, it is impossible to ensure that the motors can not ensure the torque balance while maintaining the speed synchronization, so that the system unwinding and coiling tension can achieve dynamic balance; it provides a sliding mode based High performance cooperative control method for multi-motor system with variable structure

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  • High-performance cooperative control method for multi-motor system based on sliding mode variable structure
  • High-performance cooperative control method for multi-motor system based on sliding mode variable structure
  • High-performance cooperative control method for multi-motor system based on sliding mode variable structure

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Embodiment 2

[0116] The other content of this embodiment is the same as that of Embodiment 1, except that in order to effectively reduce the chattering problem caused by the control system, the continuous function to replace the function sgn(s j ), where δ takes a smaller normal number.

[0117] The multi-motor system high-performance cooperative control method based on the sliding mode variable structure proposed by the present invention effectively overcomes the problems of multi-variable, strong coupling and time-varying physical parameters in the multi-motor synchronous control system, making the system have faster dynamic response characteristics , high reliability and strong synergistic ability, well realize that each motor of the system can meet the complex working condition requirements of full-time synchronization of torque and speed.

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Abstract

The invention provides a high-performance cooperative control method for a multi-motor system based on a sliding mode variable structure. The high-performance cooperative control method comprises thesteps of S1, designing a multi-motor system cooperative control structure framework diagram; S2, establishing a mathematical model taking multiple permanent magnet synchronous motors as actuators anda state equation of the mathematical model; S3, designing a rotating speed loop controller and a torque controller of the multi-motor system; and S4, proving the stability of the rotating speed loop controller and the torque controller designed in the step S3. According to the invention, the problems of torque balance and rotating speed synchronous control of each motor of the rolling mill transmission system can be solved, so that the system can realize that uncoiling and coiling tension is in a dynamic balance control state in real time.

Description

technical field [0001] The invention relates to the field of multi-axis synchronous control equipment, and more specifically, to a high-performance cooperative control method for a multi-motor system based on a sliding mode variable structure. Background technique [0002] Rolling mill transmission system, as a particularly critical process link in the production process of the metallurgical industry, has occupied a pivotal position in the metallurgical industry. [0003] The essence of the rolling mill transmission system belongs to the category of multi-motor synchronous control technology, and the multi-motor synchronous control system belongs to a complex model of strong coupling, nonlinearity and multi-variables. Strict control requirements are configured, which makes the system put forward higher requirements for the coordinated control performance of multiple motors. [0004] In the existing rolling mill transmission system, there are still some deficiencies in the c...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P6/04H02P21/00
CPCH02P6/04H02P21/0007
Inventor 何静张昌凡刘建华丁进
Owner HUNAN UNIV OF TECH
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