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基于非奇异快速终端滑模控制的多电机位置同步控制方法。

Multi-motor position synchronization control method based on non-singular fast terminal sliding mode control.

机构信息

School of Mechanical Engineering and Automation, University of Science and Technology Liaoning, Anshan, China.

School of Electronics and Information Engineering, University of Science and Technology Liaoning, Anshan, China.

出版信息

PLoS One. 2023 Jun 15;18(6):e0281721. doi: 10.1371/journal.pone.0281721. eCollection 2023.

DOI:10.1371/journal.pone.0281721
PMID:37319306
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC10270599/
Abstract

In order to improve the position high-precision synchronization performance of multi-motor synchronous control, a multi-motor position synchronization control method based on non-singular fast terminal sliding mode control (NFTSMC) combined with an improved deviation coupling control structure (Improved Deviation Coupling Control(IDCC), NFTSMC+IDCC). Firstly, this paper designs a sliding mode controller using a non-singular fast terminal sliding mode surface with a Permanent Magnet Synchronous Motor (PMSM) as the control object. Secondly, the deviation coupling is improved to enhance the coupling between multiple motors and achieve position synchronization. Finally, the simulation results show that the total error of multi-motor position synchronization under NFTSMC control is 0.553r in the simulation of multi-motor synchronization control under the same working conditions, which is 2.873r and 1.772r less than that of SMC and FTSMC in terms of speed error, and the anti-disturbance performance is 83.68% and 76.22% higher than that of both of them, respectively. In the subsequent simulation of the improved multi-motor position synchronization structure, the total error of the multi-motor position is in the range of 0.56r-0.58r at three speeds, which is much smaller than the synchronization error under the Ring Coupling Control (RCC) structure and Deviation Coupling Control (DCC) structure, showing a better The synchronization error is much smaller than that of the RCC structure and DCC structure, which shows better position synchronization performance. Therefore, the multi-motor position synchronization control method proposed in this paper has a good position synchronization effect and achieves the control effect of small displacement error and fast convergence of the multi-motor position synchronization control system after being disturbed, the control performance is significantly improved.

摘要

为了提高多电机同步控制的位置高精度同步性能，提出了一种基于非奇异快速终端滑模控制（NFTSMC）和改进偏差耦合控制结构（Improved Deviation Coupling Control，IDCC）的多电机位置同步控制方法，NFTSMC+IDCC。首先，本文以永磁同步电机（PMSM）为控制对象，设计了基于非奇异快速终端滑模面的滑模控制器。其次，改进了偏差耦合，增强了多电机之间的耦合，实现了位置同步。最后，仿真结果表明，在相同工作条件下，多电机同步控制的 NFTSMC 控制下的多电机位置同步总误差为 0.553r，比 SMC 和 FTSMC 的速度误差分别小 2.873r 和 1.772r，抗干扰性能分别提高 83.68%和 76.22%。在后续的改进型多电机位置同步结构的仿真中，在三种速度下，多电机位置的总误差在 0.56r-0.58r 的范围内，明显小于环耦合同步控制（RCC）结构和偏差耦合同步控制（DCC）结构下的同步误差，表现出更好的同步性能。因此，本文提出的多电机位置同步控制方法具有良好的位置同步效果，在受到干扰后实现了多电机位置同步控制系统的小位移误差和快速收敛的控制效果，控制性能得到了显著提高。

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