CN107979305A - Bi-motor speed synchronizing control method and system based on Sliding mode variable structure control - Google Patents
Bi-motor speed synchronizing control method and system based on Sliding mode variable structure control Download PDFInfo
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- CN107979305A CN107979305A CN201711387274.0A CN201711387274A CN107979305A CN 107979305 A CN107979305 A CN 107979305A CN 201711387274 A CN201711387274 A CN 201711387274A CN 107979305 A CN107979305 A CN 107979305A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
- H02P5/50—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing electrical values representing the speeds
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Abstract
The present invention relates to a kind of bi-motor speed synchronizing control method and system based on Sliding mode variable structure control.Synchronisation control means is：The actual speed of two motors is gathered first；Then according to the actual speed of two motors and given system rotating speed, PID control is carried out to the speed tracing error of two motors, obtains two motor speed follow current specified rates；According to the departure of two motor actual speeds, sliding-mode surface is established, being back-calculated to obtain two motor Synchronization Controls by Liapunov's stability criterion restrains；Finally by speed tracing given value of current amount and Synchronization Control rule summation, corresponding motor is acted on, rotating speed is reached given index, realizes bi-motor Synchronization Control.The present invention improves the control accuracy and robustness of bi-motor synchronous drive control system.
Description
Technical field
The invention belongs to bi-motor synchronous velocity control technical field, more particularly to a kind of double based on sliding moding structure
Motor speed synchronisation control means and system.
Background technology
In the evolution of electrical control, once it was widely used in by the control method of single motor driving production equipment
Various field of industrial production.But with the continuous development of modern industry, born in numerous high accuracy, large inertia, high dynamic performance
Carry occasion, such as the system such as robot, numerical control rotating platform, Radar IF simulation, accurate miniature machinery, due to using separate unit servomotor into
Row driving there are volume it is big, of high cost the problem of, and drive control precision is not high enough, therefore more small-power servos of generally use
Motor is by gear drive come common driving load.Compared with single motor driven systems, multi-motors drive system can effectively subtract
The volume and weight of small single motor, reduce the cost and output power of single motor, while increase system output power, improve
Drive system precision.Therefore, multi-motor driving servo-drive system has obtained extensively should in heavily loaded occasion, high-precision control system
With.
Multi-motors drive system be in order to solve the problems, such as that single motor driving power is insufficient, in machine driven system,
Using multiple motors together to load passing power to drive the system of total driving power.It is past in the multi-motors drive system
The problem of past to need each motor synchronous operation, and this relates to Synchronization Control, Synchronization Control is the difficulty of this drive system
Point, its net synchronization capability directly determine stability and accuracy.
At present in Practical Project, often traditional PID controller is used in bi-motor synchronous drive control system, but
It is, in the case of multi-motor control system is disturbed by loading moment and other uncertain disturbance influence factors are more, based on biography
The precision and stability of the synchronous drive control system of the PID controller of system is difficult to reach and requires, and including modeling error
Unknown nonlinear factor disturbed with uncertainty etc., can all have an impact the performance of system.
The content of the invention
It is an object of the invention to provide a kind of bi-motor synchronous velocity control algorithm based on Sliding mode variable structure control and
System, for factors such as synchronous control system is non-linear, parameter uncertainty, load disturbances, using Sliding mode variable structure control side
Method, is controlled synchronous rotational speed, can be obviously improved synchronization control accuracy, and system is had certain robustness.
Solve above-mentioned technical problem technical solution be：A kind of bi-motor Synchronization Control side based on Sliding mode variable structure control
Method, on the basis of cross-couplings, establishes sliding-mode surface, desin speed Synchronization Control is restrained, specifically by bi-motor velocity deviation amount
Step is as follows：
Step 1, the actual speed for gathering two motors；
Step 2, actual speed and given system rotating speed according to two motors, carry out the speed tracing error of two motors
PID control, obtains two motor speed follow current specified rates；
Step 3, the departure according to two motor actual speeds, establish sliding-mode surface, pass through Liapunov's stability criterion
It is back-calculated to obtain two motor Synchronization Controls rule；
Step 4, by speed tracing given value of current amount and Synchronization Control rule summation, collective effect motor, make rotating speed reach to
Determine index, realize bi-motor Synchronization Control.
A kind of bi-motor synchronous drive control system speed synchronous control system, including PID controller, Synchronization Control rule meter
Calculate module and given value of current amount computing module, the PID controller is right according to the actual speed and given system rotating speed of two motors
The speed tracing error of two motors carries out PID control, obtains the speed tracing given value of current amount of two motors；The Synchronization Control rule
Computing module establishes sliding-mode surface according to the departure of two motor actual speeds, is back-calculated to obtain by Liapunov's stability criterion
Two motor Synchronization Controls are restrained；The given value of current amount computing module sums speed tracing given value of current amount and Synchronization Control rule,
Corresponding motor is acted on, rotating speed is reached given index, realizes bi-motor Synchronization Control.
Compared with prior art, the present invention its remarkable advantage is：(1) base of the present invention in cross-couplings Strategy For Synchronization Control
On plinth, Synchronization Control rule is acted on into electric current loop, enables each motor quick-reaction system velocity deviation, accelerates system tune
The time is saved, improves system accuracy；(2) present invention is effectively reduced using based on the Sliding mode variable structure control continuously switched
Buffeting in sliding formwork control, improves system stability；(3) present invention reduces synchronous driving control by designing sliding mode controller
System processed improves the robustness of system because the influence that modeling error and nonlinear disturbance are brought.
Brief description of the drawings
Fig. 1 is the double permanent magnet synchronous motor synchronization control system composition schematic diagrams of the present invention.
Fig. 2 is the design flow diagram of the double permanent magnet synchronous motor synchronization control systems of the present invention.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
With reference to Fig. 1~2, the design process of bi-motor synchronous drive control system speed synchronous control system, including it is following
Step：
Step 1, the mathematical model of the permanent magnet synchronous motor under two-phase rotating coordinate system is established, changes into state equation, and
Make related hypothesis；
Step 1-1：Establish under two-phase rotating coordinate system, based on idThe mathematical modulo of the permanent magnet synchronous motor of=0 control mode
Shown in type such as formula (1),
Wherein, i=1,2, represent two motors, iqi、uqi、LqiBe respectively the stator current of i-th motor, electronic voltage,
Equivalent inductance of the electronics winding under motor two-phase rotating coordinate system on q axis,It is the stator current of i-th motor in motor
The derivative of q components under two-phase rotating coordinate system, RsiFor the resistance of the stator of i-th motor, npiRepresent the pole of i-th motor
Logarithm, ψfiIt is the rotor flux of i-th motor, JiFor the mechanical rotation inertia of i-th motor, biTurn for the resistance of i-th motor
Square damped coefficient, ωi、For the rotor velocity and its derivative of i-th motor, TLiFor the load torque of i-th motor.
Step 1-2：The nonlinearity erron for introducing modeling error and uncertain noises is excellent to the progress of motor model shown in formula (1)
Change, determine that mathematical model is converted into state model by state variable.
It is as follows to define intermediate variable：
Motor dynamics model after processing is represented by：
In formula, i=1,2, represent two motors, system state variables xiRepresent the rotating speed of motor,Represent motor speed
Derivative, ΔiRepresent because the unknown nonlinear factor such as modeling error and system disturbance.
Step 1-3：For controller design requirement, model meets following reasonable assumption：
Assuming that 1：Disturb ΔiAnd its first derivativeBounded, i.e.,：
Wherein, d1、d2For the constant more than 0.
Assuming that 2：Speed command is smooth to lead, and derivative bounded；
Assuming that 3：The angular acceleration of motor and the change rate of control electric currentIt is limited, i.e.,：
Wherein, Ωd、UdFor the constant more than 0.
Assuming that 4：System load torque and its derivative bounded.
Step 2：The speed tracing error of two motors is defined, the speed control of two motors is designed, here using PI
Controller：
Wherein, ei=xi-x*, x*For system given speed, kpi、τiFor the scale factor and integrating factor of PI controllers.
Step 3：Define bi-motor velocity deviation amount ed, design Synchronization Control rule computing module：
Step 3-1：Define bi-motor velocity deviation amount ed, and abbreviation：
ed=x1-x2=A1u21-A2u22+Dd
Step 3-2：Design sliding-mode surface Sd：
Wherein, cdFor design parameter, cd＞ 0, Dd=A1u1-A2u2+B1x1-B2x2+C1TL1-C2TL2+Δ1-Δ2, by assuming
Understand DdBounded.
In addition,From assuming,
Bounded.
Step 3-3：Define liapunov function：
Step 3-4：Design sliding formwork Reaching Law：
Substitute into (4), (5) obtain：
Wherein,Bounded, definitionρ0For the constant more than 0.
Step 3-5, pushed away according to Liapunov's stability criterion is counter, obtain Synchronization Control rule：
Wherein, Kd＞ 0, ρd＞ ρ0/ 2, ε ＞ 0 are constant, are the design parameters of sliding mode controller.
Step 4：Design current specified rate computing module, the output of PI controllers and Synchronization Control rule computing module output are asked
With obtain given value of current amount ui=ui1+ui2, and act on corresponding motor.Adjusted design parameter c in design processd、Kd, ε
Value, can make turn up to given index.
The bi-motor synchronous drive control system speed synchronous control system designed according to the above method, including PID control
Device, Synchronization Control rule computing module and given value of current amount computing module, the PID controller according to the actual speeds of two motors and
Given system rotating speed, carries out PID control to the speed tracing error of two motors, obtains the speed tracing given value of current of two motors
Amount；The Synchronization Control rule computing module establishes sliding-mode surface according to the departure of two motor actual speeds, passes through Liapunov
Stability criteria is back-calculated to obtain two motor Synchronization Controls rule；The given value of current amount computing module is by speed tracing given value of current amount
Restrain and sum with Synchronization Control, act on corresponding motor, rotating speed is reached given index, realize bi-motor Synchronization Control.
Bi-motor synchronous drive control system speed synchronizing control method based on said system, comprises the following steps that：
Step 1, the actual speed for gathering two motors；
Step 2, actual speed and given system rotating speed according to two motors, carry out the speed tracing error of two motors
PID control, obtains speed tracing given value of current amount；
Step 3, the departure according to two motor actual speeds, establish sliding-mode surface, pass through Liapunov's stability criterion
It is back-calculated to obtain Synchronization Control rule；
Step 4, restrain speed tracing given value of current amount and Synchronization Control and sum, and acts on corresponding motor, reaches rotating speed
Given index, realizes bi-motor Synchronization Control.
Claims (4)
1. a kind of bi-motor synchronisation control means based on Sliding mode variable structure control, it is characterised in that on cross-linked basis
On, sliding-mode surface is established by bi-motor velocity deviation amount, desin speed Synchronization Control rule, comprises the following steps that：
Step 1, the actual speed for gathering two motors；
Step 2, actual speed and given system rotating speed according to two motors, PID controls are carried out to the speed tracing error of two motors
System, obtains two motor speed follow current specified rates；
Step 3, the departure according to two motor actual speeds, establish sliding-mode surface, are pushed away by the way that Liapunov's stability criterion is counter
Obtain two motor Synchronization Controls rule；
Step 4, restrain speed tracing given value of current amount and Synchronization Control and sum, and acts on corresponding motor, rotating speed is reached given
Index, realizes bi-motor Synchronization Control.
2. the bi-motor synchronisation control means according to claim 1 based on Sliding mode variable structure control, it is characterised in that institute
Stating the speed tracing given value of current amount that step 2 is asked for is：
ui1=kpiei+τi∫ei
In formula, i=1,2, represent two motors, kpi、τiFor the scale factor and integrating factor of PI controllers, ei=xi-x*, it is
The tracking error of single motor, xiFor motor i actual speeds, x*For system given speed.
3. the bi-motor synchronisation control means according to claim 1 based on Sliding mode variable structure control, it is characterised in that step
Rapid 3 are specially：
Step 3.1, ask for bi-motor velocity deviation amount：
ed=x1-x2
In formula, xi, i=1,2 is the actual speed of motor i；
Step 3.2, according to bi-motor velocity deviation amount establish sliding-mode surface：
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In formula, cd＞ 0 is constant, is sliding-mode surface design parameter；
Step 3.3, be back-calculated to obtain Synchronization Control rule by Liapunov's stability criterion：
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In formula,npi、ψfi、JiNumber of pole-pairs, rotor flux and the mechanical rotation inertia of i-th motor are represented respectively,
Kd＞ 0, ρd＞, ε ＞ 0 are constant, are sliding mode controller design parameters.
4. a kind of bi-motor synchronous drive control system speed synchronous control system, it is characterised in that including PID controller, together
Walk control law computing module and given value of current amount computing module, the PID controller is according to the actual speed of two motors and given
System rotating speed, carries out PID control to the speed tracing error of two motors, obtains the speed tracing given value of current amount of two motors；Institute
State Synchronization Control rule computing module and sliding-mode surface is established according to the departure of two motor actual speeds, pass through Liapunov stability
Criterion is back-calculated to obtain two motor Synchronization Controls rule；The given value of current amount computing module is by speed tracing given value of current amount and synchronization
Control law is summed, and is acted on corresponding motor, rotating speed is reached given index, realizes bi-motor Synchronization Control.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108923693A (en) * | 2018-07-09 | 2018-11-30 | 天津工业大学 | Two magneto two degrees of freedom cross-coupling control methods |
| WO2020048057A1 (en) * | 2018-09-05 | 2020-03-12 | 固高科技(深圳)有限公司 | Multi-motor crossed synchronous control system and control method therefor |
| CN110901416A (en) * | 2019-12-25 | 2020-03-24 | 傲基科技股份有限公司 | Compensation system and compensation method based on double-motor rotating speed difference |
| CN111017010A (en) * | 2020-01-03 | 2020-04-17 | 南京航空航天大学 | Dual-motor intelligent steer-by-wire system and synchronous control method |
| CN112904707A (en) * | 2019-12-04 | 2021-06-04 | 中南大学 | Synchronous control method of dual-drive vertical lifting servo system under variable load condition |
| CN114221587A (en) * | 2021-12-20 | 2022-03-22 | 四川三联新材料有限公司 | Synchronous control method for double-permanent magnet synchronous motor |
| CN114244238A (en) * | 2021-12-20 | 2022-03-25 | 四川三联新材料有限公司 | Rotating speed synchronous fault-tolerant control method for double-servo motor system |
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| CN106533298A (en) * | 2016-12-24 | 2017-03-22 | 天津工业大学 | Method for controlling rotating speed synchronization of dual-permanent magnet synchronous motor drive system |
| CN106684890A (en) * | 2016-11-22 | 2017-05-17 | 西安理工大学 | Hyperbolic function sliding-mode control-based chaotic oscillation suppression method of power system |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108923693A (en) * | 2018-07-09 | 2018-11-30 | 天津工业大学 | Two magneto two degrees of freedom cross-coupling control methods |
| WO2020048057A1 (en) * | 2018-09-05 | 2020-03-12 | 固高科技(深圳)有限公司 | Multi-motor crossed synchronous control system and control method therefor |
| CN112904707A (en) * | 2019-12-04 | 2021-06-04 | 中南大学 | Synchronous control method of dual-drive vertical lifting servo system under variable load condition |
| CN112904707B (en) * | 2019-12-04 | 2022-05-20 | 中南大学 | Synchronous control method of dual-drive vertical lifting servo system under variable load condition |
| CN110901416A (en) * | 2019-12-25 | 2020-03-24 | 傲基科技股份有限公司 | Compensation system and compensation method based on double-motor rotating speed difference |
| CN111017010A (en) * | 2020-01-03 | 2020-04-17 | 南京航空航天大学 | Dual-motor intelligent steer-by-wire system and synchronous control method |
| CN111017010B (en) * | 2020-01-03 | 2023-11-07 | 南京航空航天大学 | Dual-motor intelligent steer-by-wire system and synchronous control method |
| CN114221587A (en) * | 2021-12-20 | 2022-03-22 | 四川三联新材料有限公司 | Synchronous control method for double-permanent magnet synchronous motor |
| CN114244238A (en) * | 2021-12-20 | 2022-03-25 | 四川三联新材料有限公司 | Rotating speed synchronous fault-tolerant control method for double-servo motor system |
| CN114221587B (en) * | 2021-12-20 | 2024-02-06 | 四川三联新材料有限公司 | Synchronous control method for double permanent magnet synchronous motor |
| CN114244238B (en) * | 2021-12-20 | 2024-05-10 | 四川三联新材料有限公司 | Synchronous fault-tolerant control method for rotating speed of double-servo motor system |
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