CN111614287A - Sliding mode variable structure-based multi-motor system high-performance cooperative control method - Google Patents

Sliding mode variable structure-based multi-motor system high-performance cooperative control method Download PDF

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CN111614287A
CN111614287A CN202010462250.2A CN202010462250A CN111614287A CN 111614287 A CN111614287 A CN 111614287A CN 202010462250 A CN202010462250 A CN 202010462250A CN 111614287 A CN111614287 A CN 111614287A
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motor
cooperative control
sliding mode
mode variable
control method
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CN111614287B (en
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何静
张昌凡
刘建华
丁进
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Hunan University of Technology
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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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control

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Abstract

The invention provides a sliding mode variable structure-based high-performance cooperative control method for a multi-motor system, which comprises the following steps of: s1, designing a multi-motor system cooperative control structure frame diagram; s2, establishing a mathematical model and a state equation thereof by taking a plurality of permanent magnet synchronous motors as actuators; s3, designing a rotating speed loop controller and a torque controller of the multi-motor system; and S4, carrying out stability verification on the rotating speed ring controller and the torque controller designed in the S3. The invention can solve the problems of torque balance and synchronous control of the rotating speed of each motor of the transmission system of the rolling mill, so that the system can realize the control state of dynamic balance of uncoiling and coiling tension in real time.

Description

Sliding mode variable structure-based multi-motor system high-performance cooperative control method
Technical Field
The invention relates to the field of multi-axis synchronous control equipment, in particular to a sliding mode variable structure-based multi-motor system high-performance cooperative control method.
Background
The transmission system of the rolling mill is a particularly key process link in the production process of the metallurgical industry, and has a great significance in the metallurgical industry.
The essence of the rolling mill transmission system belongs to the technical field of multi-motor synchronous control, the multi-motor synchronous control system belongs to a complex model with strong coupling, nonlinearity and multivariable, and the rolling mill transmission system is provided with rigorous control requirements on the torque and the rotating speed of each motor of the system, so that the system puts higher requirements on the cooperative control performance of the multi-motor.
In the existing rolling mill transmission system, the cooperative control performance of multiple motors still has certain defects, for example, the problem of double synchronous control of torque and rotating speed cannot be considered, which leads to the incapability of powerfully guaranteeing the cooperative performance of each motor of the rolling mill transmission control system; the cooperative performance is the key for the effective application of the multi-motor synchronous control technology in the transmission system of the rolling mill, because the cooperative performance directly influences the reliability of the production of machine equipment and the quality of products.
Disclosure of Invention
The invention aims at the problem that the existing multi-motor system control technology can not ensure that all motors can keep synchronous rotating speed while ensuring the torque balance, so that the uncoiling and coiling tension of the system can realize dynamic balance; the high-performance cooperative control method for the multi-motor system based on the sliding mode variable structure is provided.
In order to achieve the purpose, the invention adopts the following technical scheme:
a sliding mode variable structure-based multi-motor system high-performance cooperative control method comprises the following steps:
s1, designing a multi-motor system cooperative control structure frame diagram;
s2, establishing a mathematical model and a state equation thereof by taking a plurality of permanent magnet synchronous motors as actuators;
s3, designing a rotating speed loop controller and a torque controller of the multi-motor system;
s4, the stability of the rotating speed ring controller and the torque controller designed in the S3 is proved.
Further, the specific steps in step S1 include:
s11: tracking error e of j (1, 2,3, …, n) th motor in systemjComprises the following steps:
ej＝ωd-ωj
wherein, ω isdAnd ωjInput rotation speed and output rotation speed of jth motor, when j equals n, omegaj+1＝ω1；
S12: according to the designed multi-motor system cooperative control structure frame diagram, the tracking error E of the system after the jth motor compensation can be knownjComprises the following steps:
Ej＝ej-γj(ωj-ωj+1)
wherein, γjRepresenting the feedback gain of the jth motor of the system;
s13: defining the synchronous error between the jth motor and the adjacent (j +1) th motor of the system asjThen, there are:
j＝ωj-ωj+1
s14: according to the tracking error ejAnd synchronization errorjThe general expression of the tracking error of the jth motor of the system after coupling compensation can be obtained as follows:
Ej＝ej-γj j
s15: the feedback gain of each motor of the system is designed to meet the following inequality, so that the rationality of a frame diagram of the designed multi-motor system cooperative control structure is ensured, and the synchronism of the rotating speed of each motor of the system is ensured; the feedback gain of each motor of the system is as follows:
(1+γ1)(1+γ2)(1+γ3)···(1+γn)-γ1γ2γ3···γn≠0
further, in step S2, the mathematical model of the permanent magnet synchronous motor is:
Figure BDA0002511408440000021
wherein u isdj、uqjRespectively in the dq axis directionA voltage component ofdj、iqjRespectively a direct-axis component and a quadrature-axis component of the stator current; rsjAs stator winding resistance, omegajIs the rotor electrical angular velocity; l isdj、LqjSynchronous inductances, psi, of direct and quadrature axes, respectivelyfjIs the rotor flux linkage.
Further, the torque equation and the mechanical motion equation of the permanent magnet synchronous motor are as follows:
Figure BDA0002511408440000022
wherein, TejFor electromagnetic torque, TLjIs the load torque on the shaft, npjIs the number of pole pairs, R, of the motorΩjIs the coefficient of rotation resistance of the motor, omegajIs the mechanical angular velocity of the rotor, JjIs the moment of inertia.
Further, in step S3, the speed loop controller is:
Figure BDA0002511408440000031
further, in step S3, the torque controller is:
Figure BDA0002511408440000032
further, sgn(s)j) Can use continuous functions
Figure BDA0002511408440000033
Instead, the value is a smaller normal number.
Further, the stability of the speed loop controller and the torque controller in S3 is verified by the Lyapunov function in step S4.
Further, in step S2, the permanent magnet synchronous motor is a non-salient pole type permanent magnet synchronous motor.
The invention has the beneficial effects that: the problems of multivariable, strong coupling, time-varying physical parameters and the like of a multi-motor synchronous control system are effectively overcome, so that the system has the advantages of high dynamic response characteristic, high reliability and high synergistic capability, the motors of the system can well meet the complex working condition requirement of full time domain synchronization of torque and rotating speed, and the system has certain help for practical engineering application of a rolling mill transmission control system.
Drawings
FIG. 1 is a framework diagram of a multi-motor system high-performance cooperative control structure based on a sliding mode variable structure.
Detailed Description
The present invention will be further described with reference to the following embodiments.
A sliding mode variable structure-based multi-motor system high-performance cooperative control method comprises the following steps:
s1, designing a multi-motor cooperative control structure block diagram aiming at the working characteristics of a transmission system of the rolling mill;
s11: tracking error e of j (1, 2,3, …, n) th motor in systemjComprises the following steps:
ej＝ωd-ωj(1)
in the formula (1), ω isdAnd ωjThe input rotation speed and the output rotation speed of the jth motor are respectively, wherein when j equals n, omegaj+1＝ω1。
S12: according to the designed multi-motor cooperative control structure block diagram, the tracking error E of the system after the compensation of the jth motor can be knownjComprises the following steps:
Ej＝ej-γj(ωj-ωj+1) (2)
in the formula (2), gammajRepresenting the feedback gain of the jth motor of the system.
S13: defining the synchronous error between the jth motor and the adjacent (j +1) th motor of the system asjThen, there are:
j＝ωj-ωj+1(3)
s14: by substituting equations (1) and (3) into equation (2), the general expression of the tracking error of the jth motor of the system after coupling compensation can be obtained as follows:
Ej＝ej-γj j(4)
s15: e can be substituted by the formula (2)jThe transformation is performed as follows:
Figure BDA0002511408440000041
the above equation (5) is formulated in matrix form as:
Y＝AX (6)
wherein Y ═ E1,E2,…,En]T；
Figure BDA0002511408440000042
X＝[e1,e2,…,en]TIf the matrix equation (6) has only a unique zero solution, the determinant of the matrix a is not zero, i.e. there is:
Figure BDA0002511408440000043
this is obtained by solving the following equation (7):
(1+γ1)(1+γ2)(1+γ3)···(1+γn)-γ1γ2γ3···γn≠0 (8)
as is clear from formulas (5) and (6), when Y is 0, E is also the samejWhen 0 is satisfied, only the design parameter γ is requiredjIf equation (8) is satisfied, the tracking error X can be made 0, i.e., ejWhen the system synchronization error is found by the combination formula (4) as 0jAnd 0, so that the tracking error and the synchronization error of the system can be eliminated, and necessary conditions can be effectively created for the synchronization control of the system.
S2: establishing a mathematical model and a state equation thereof by taking a plurality of permanent magnet synchronous motors as an actuator;
s21: the permanent magnet synchronous motor adopts a non-salient pole type, and a mathematical model based on a j (j ═ 1,2, ·, n) th motor under a d-q coordinate system is as follows:
Figure BDA0002511408440000051
in the formula (9), udj、uqjRespectively, the voltage component in the direction of the dq axis, idj、iqjRespectively a direct-axis component and a quadrature-axis component of the stator current; rsjAs stator winding resistance, omegajIs the electrical angular velocity of the rotor, Ldj、LqjSynchronous inductances, psi, of direct and quadrature axes, respectivelyfjIs the rotor flux linkage.
S22: the torque equation and the mechanical motion equation of the permanent magnet synchronous motor are as follows:
Figure BDA0002511408440000052
in the formula (10), TejFor electromagnetic torque, TLjIs the load torque on the shaft, npjIs the number of pole pairs, R, of the motorΩjIs the coefficient of rotation resistance of the motor, omegajIs the mechanical angular velocity of the rotor, JjIs the moment of inertia. The conversion formula of the electrical angular velocity and the mechanical angular velocity is as follows:
Figure BDA0002511408440000053
considering a non-salient pole synchronous motor Ldj＝Lqj＝LjWhile employing idjIn the current vector control method of 0, the torque equation in equation (10) may be changed to:
Tej＝1.5npjψfjiqj(12)
s23: substituting equations (11) and (12) for the mechanical equation of motion in equation (10) yields the following relationship:
Figure BDA0002511408440000061
let in the above formula (13)
Figure BDA0002511408440000062
iqj＝fjThen, formula (13) can be converted to:
Figure BDA0002511408440000063
step S3: a rotating speed ring controller and a torque controller of the system are respectively designed;
s31: design speed loop controller u0：
According to the theoretical explanation of S1, if E is to be adjustedjIf 0 holds true, then the Lyapunov function can be constructed
Figure BDA0002511408440000064
Then
Figure BDA0002511408440000065
When in use
Figure BDA0002511408440000066
When present, then there are
Figure BDA0002511408440000067
Thus, at this time Ej→ 0, the system is stable, where kjThe larger normal number.
The equation can be derived from equation (4):
Figure BDA0002511408440000068
the formula (14) may be substituted for the formula (15):
Figure BDA0002511408440000069
the virtual controller can be constructed according to equation (16) as follows:
Figure BDA0002511408440000071
will be provided with
Figure BDA0002511408440000072
Substituting formula (16) to obtain:
-kjEj＝-kj(ej-γj j)＝-[(1+γj)aj-γjaj+1)]ej+γjaj+1 j+uj(18)
the system virtual controller obtained by solving equation (18) is as follows:
uj＝[(1+γj)aj-γjaj+1)-kj]ej+[γj(kj-aj+1)]j(19)
at this time, the system satisfies Ej→ 0, provides the necessary demonstration conditions for the theoretical explanation of S1.
The speed loop controller u can then be obtained from equation (19)0The following were used:
Figure BDA0002511408440000073
by designing the controller shown in the formula (20), the system can also meet the requirement Ej→ 0 from the theoretical explanation of equation (6), the tracking error e can be derivedjAnd synchronization errorjCan be eliminated.
S32: design Torque controller u'j：
Defining the tracking error of the electromagnetic torque of the jth motor of the system as taujThen, there are:
τj＝Tej-Ted(21)
from the formula (12):
Figure BDA0002511408440000074
let 1.5n in the above formula (22)pjψfj＝bj，
Figure BDA0002511408440000075
Is the controller u 'to be designed'jEquation (22) can therefore be simplified to the following form:
Figure BDA0002511408440000076
selecting a slip form surface as follows:
sj＝τj(24)
s4: the stability of the rotating speed ring controller and the torque controller designed in the S3 is proved;
theorem 1: aiming at the designed multi-motor cooperative control structure block diagram, a sliding mode surface of an equation (24) is selected, and if the controller is designed as follows:
Figure BDA0002511408440000081
the controller designed by the system can balance and synchronously control the torques of the motors.
Proof 1: the Lyapunov function is defined as follows:
Figure BDA0002511408440000082
derivation is performed on equation (26):
Figure BDA0002511408440000083
substituting the controller designed in equation (25) into equation (27) can obtain:
Figure BDA0002511408440000084
as can be seen from equation (28), the system is formed from the slip surface sjStarting from any state except 0, the system reaches the sliding mode surface within a limited time, and once the system reaches the sliding mode surface, the system has sj＝0，d(sj) Where dt is 0, the torque tracking error τ of each motor in the system can be found from the equations (21) and (24)j0, the system is therefore progressively stable.
Fig. 1 is a framework diagram of a high-performance cooperative control structure of a multi-motor system based on a sliding mode variable structure, and as shown in the figure, the structural design concept is to use the 1 st permanent magnet synchronous motor as a master motor and use the other n-1 motors as slave motors. Firstly, summing the virtual controllers of n motors, and then obtaining a rotation speed loop controller u by averaging0And then the electromagnetic torque of the 1 st motor is used as the input of other n-1 motors, and finally, the torque balance and the full-time synchronization of the rotating speed of the system are ensured through a torque closed loop and a rotating speed closed loop.
Example 2
The rest of the present embodiment is the same as embodiment 1, except that: in order to effectively reduce the buffeting problem caused by a control system, a continuous function is adopted
Figure BDA0002511408440000085
Instead of the function sgn(s)j) Wherein, the smaller normal number is taken.
The sliding mode variable structure-based multi-motor system high-performance cooperative control method effectively overcomes the problems of multivariable, strong coupling, time variation of physical parameters and the like of a multi-motor synchronous control system, so that the system has the advantages of high dynamic response characteristic, high reliability and high cooperative capability, and each motor of the system can well meet the complex working condition requirement of full time domain synchronization of torque and rotating speed.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention.

Claims (8)

1. A high-performance cooperative control method for a multi-motor system based on a sliding mode variable structure is characterized by comprising the following steps:
s1, designing a multi-motor system cooperative control structure frame diagram;
s2, establishing a mathematical model and a state equation thereof by taking a plurality of permanent magnet synchronous motors as actuators;
s3, designing a rotating speed loop controller and a torque controller of the multi-motor system;
s4, carrying out stability certification on the rotating speed ring controller and the torque controller designed in the S3;
the specific steps in step S1 include:
s11: tracking error e of j (1, 2,3, …, n) th motor in systemjComprises the following steps:
ej＝ωd-ωj
wherein, ω isdAnd ωjInput rotation speed and output rotation speed of jth motor, when j equals n, omegaj+1＝ω1；
S12: according to the designed multi-motor system cooperative control structure frame diagram, the tracking error E of the system after the jth motor compensation can be knownjComprises the following steps:
Ej＝ej-γj(ωj-ωj+1)
wherein, γjRepresenting the feedback gain of the jth motor of the system;
s13: defining the synchronous error between the jth motor and the adjacent (j +1) th motor of the system asjThen, there are:
j＝ωj-ωj+1
s14: according to the tracking error ejAnd synchronization errorjThe general expression of the tracking error of the jth motor of the system after coupling compensation can be obtained as follows:
Ej＝ej-γj j
s15: the feedback gain of each motor of the system is designed to meet the following inequality, so that the rationality of a frame diagram of the designed multi-motor system cooperative control structure is ensured, and the synchronism of the rotating speed of each motor of the system is ensured; the feedback gain of each motor of the system is as follows:
(1+γ1)(1+γ2)(1+γ3)…(1+γn)-γ1γ2γ3…γn≠0。
2. the high-performance cooperative control method for the multi-motor system based on the sliding mode variable structure is characterized in that in step S2, the mathematical model of the permanent magnet synchronous motor is as follows:
Figure FDA0002511408430000021
wherein u isdj、uqjRespectively, the voltage component in the direction of the dq axis, idj、iqjRespectively a direct-axis component and a quadrature-axis component of the stator current; rsjAs stator winding resistance, omegajIs the rotor electrical angular velocity; l isdj、LqjSynchronous inductances, psi, of direct and quadrature axes, respectivelyfjIs the rotor flux linkage.
3. The method for the high-performance cooperative control over the multi-motor system based on the sliding mode variable structure according to claim 2 is characterized in that a torque equation and a mechanical motion equation of the permanent magnet synchronous motor are as follows:
Figure FDA0002511408430000022
wherein T isejFor electromagnetic torque, TLjIs the load torque on the shaft, npjIs the number of pole pairs, R, of the motorΩjIs the coefficient of rotation resistance of the motor, omegajIs the mechanical angular velocity of the rotor, JjIs the moment of inertia.
4. The high-performance cooperative control method for the multi-motor system based on the sliding mode variable structure according to claim 1, wherein in step S3, the rotating speed loop controller is:
Figure FDA0002511408430000023
5. the high-performance cooperative control method for the multi-motor system based on the sliding mode variable structure according to claim 1, wherein in step S3, the torque controller is:
Figure FDA0002511408430000024
6. the high-performance cooperative control method for the multi-motor system based on the sliding mode variable structure is characterized in that sgn(s)j) Can use continuous functions
Figure FDA0002511408430000025
Instead, the value is a smaller normal number.
7. The high-performance cooperative control method for the multi-motor system based on the sliding mode variable structure is characterized in that the stability of the rotating speed loop controller and the torque controller in S3 is proved through a Lyapunov function in the step S4.
8. The high-performance cooperative control method for the multiple motor system based on the sliding mode variable structure according to claim 1, wherein in step S2, the type of the permanent magnet synchronous motor is a non-salient pole type permanent magnet synchronous motor.
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