摘要
针对大功率随动试验台中多台永磁同步电机的同步控制问题,同时考虑试验台开放性的要求,提出相邻交叉耦合结构与滑模变结构控制相结合的同步控制策略。结合试验台的机械结构特点,分析比较相邻交叉耦合结构与偏差耦合结构。根据多电机同步系统中同步误差与跟踪误差的控制要求,建立永磁同步电机的状态空间模型,进一步给出多电机同步滑模控制器的设计方法。分析了所设计的同步控制系统的鲁棒性。仿真结果表明,相邻交叉耦合结构与变结构算法相结合的系统其同步误差小于传统的偏差耦合结构与PID算法相结合的系统,受干扰影响变小。对于多永磁同步电机同步系统,相邻交叉耦合结合滑模变结构的控制策略在改善同步性能的同时,增强系统的鲁棒性,简化系统结构,并增强系统的开放性。
In order to improve the synchronization performance of multiple permanent magnet synchronous motors（ PMSM） in the high-power servo test stand, a synchronization strategy which combines adjacent cross-coupling structure and sliding mode control is presented taking account of the demand for scalability of motors’ number. Firstly, the relative cross-coupling structure was compared with the adjacent cross-coupling structure considering the mechanical structure of the stand. Secondly, the state-space model of the PMSM was established according to the conditions of synchronization errors and tracking errors. Based on the model, the design method for sliding mode controllers was given. Finally, the robustness for the designed system was analyzed. Simulation results indicate that the proposed strategy has smaller synchro-nization error than the traditional strategy which combines the relative cross-coupling structure and propor-tion integration differentiation（PID）. Furthermore, the designed system is more insensitive to external disturbance. For the synchronization system of multiple PMSM, the proposed strategy not only improves the synchronization performance, but enhances the robustness of the system. In addition, the proposed strategy helps to simplify the structure and enhance the openness of the system.
出处
《电机与控制学报》
EI
CSCD
北大核心
2014年第4期88-95,共8页
Electric Machines and Control
基金
国家自然科学基金(61074127)
关键词
大功率随动试验台
永磁同步电机
多电机同步
相邻交叉耦合
滑模变结构控制
high-power servo test stands
permanent magnet synchronous motors
multi-motor synchroni-zation
adjacent cross-coupling
sliding mode control
