Li Lebao, Sun Lingling, Zhang Shengzhou
College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China; Key Laboratory of RF Circuits and Systems, Ministry of Education, Hangzhou Dianzi University, Hangzhou 310018, China.
Key Laboratory of RF Circuits and Systems, Ministry of Education, Hangzhou Dianzi University, Hangzhou 310018, China.
ISA Trans. 2016 May;62:222-35. doi: 10.1016/j.isatra.2016.01.015. Epub 2016 Feb 18.
A new mean deviation coupling synchronization control strategy is developed for multiple motor control systems, which can guarantee the synchronization performance of multiple motor control systems and reduce complexity of the control structure with the increasing number of motors. The mean deviation coupling synchronization control architecture combining second-order adaptive sliding mode control (SOASMC) approach is proposed, which can improve synchronization control precision of multiple motor control systems and make speed tracking errors, mean speed errors of each motor and speed synchronization errors converge to zero rapidly. The proposed control scheme is robustness to parameter variations and random external disturbances and can alleviate the chattering phenomena. Moreover, an adaptive law is employed to estimate the unknown bound of uncertainty, which is obtained in the sense of Lyapunov stability theorem to minimize the control effort. Performance comparisons with master-slave control, relative coupling control, ring coupling control, conventional PI control and SMC are investigated on a four-motor synchronization control system. Extensive comparative results are given to shown the good performance of the proposed control scheme.
针对多电机控制系统，开发了一种新的平均偏差耦合同步控制策略，该策略能够保证多电机控制系统的同步性能，并随着电机数量的增加降低控制结构的复杂性。提出了一种结合二阶自适应滑模控制（SOASMC）方法的平均偏差耦合同步控制架构，该架构可以提高多电机控制系统的同步控制精度，使各电机的速度跟踪误差、平均速度误差和速度同步误差迅速收敛到零。所提出的控制方案对参数变化和随机外部干扰具有鲁棒性，并且可以减轻抖振现象。此外，采用自适应律来估计不确定性的未知边界，该边界是根据李雅普诺夫稳定性定理获得的，以最小化控制量。在四电机同步控制系统上研究了与主从控制、相对耦合控制、环形耦合控制、传统PI控制和滑模控制的性能比较。给出了大量的比较结果，以表明所提出控制方案的良好性能。
