摘要
针对多电机同步控制研究的现状,用基于位置和速度的非线性同步控制规律设计双电机传动机械系统控制器,实现两组变频器-电动机机械系统的同步控制。Matlab环境下的仿真结果表明,系统具有良好的性能,能够在有限的时间内实现对输入信号的同步无差跟踪,即使轮廓线是存在突变尖角的心形线,整个系统的运动轨迹也能够按照期望的轮廓线运行。该系统对于外部的干扰有很强的鲁棒性,控制算法简单,系统易于实现,具有较好的工程应用价值。
In view of current status of multi-motor drives,using nonlinear feedback law of the displacements and the velocities,synchronization control of the mechanical system with two-motor drives is designed.The simulation results under Matlab show that the system has good performance.The system achieves two groups of transducer-motors tracking the input signal with zero error in finite time.The whole system generates desired contours,even a heart-shaped contouring with sharp corners in the presence of disturbances.The control algorithm is simple and easy to be realized.It has good application value in engineering practice.
出处
《控制工程》
CSCD
2005年第4期398-400,共3页
Control Engineering of China
基金
山东省中青年科学家基金资助项目(03BS093)
关键词
同步控制
非线性同步控制规律
无差跟踪
双电机传动系统
synchronization control
nonlinear synchronizing control law
track with zero error
mechanical system with two-motor drives
