Construction method for automatic disturbance rejection controller of three-motor synchronous control system

Abstract

The invention discloses a construction method for an automatic disturbance rejection controller of a three-motor synchronous control system, which comprises the following steps that: three controlled induction machines, three transducers and a common load are used as a whole to form a three-motor synchronous control system; and a speed control circuit and two tension control circuits of the three-motor synchronous control system are provided with an optimized first-order automatic disturbance rejection controller respectively, wherein the optimized first-order automatic disturbance rejection controller is a device for determining a new controlled quantity according to a system setting, system controlled output and a previous controlled quantity; the optimized first-order automatic disturbance rejection controller and the three-motor synchronous control system form a closes loop; and the optimized first-order automatic disturbance rejection controller consists of an extended state observer, a proportional controller and has a disturbance estimated value for making up an error feedback controlled quantity. The method has the advantages of simple algorithm, easily adjusted parameters, better decoupling control between the speed and the two tensile forces independent of an accurate mathematical model of an alternating current machine, higher response speed, higher static accuracy, higher capacity of resisting disturbance and higher robustness.

Description

technical field [0001] The invention relates to a three-motor synchronous control system, in particular to the construction method of its controller, which is suitable for high-performance synchronous control of three frequency converters driving three induction motors to drive a common load (such as a belt load), and belongs to electric drive control The technical field of the device. Background technique [0002] At present, frequency converters are used to drive AC induction motors (referred to as AC motors) to form AC frequency conversion speed control systems. Widely used electronic control system. However, since the mathematical model of the AC motor is a complex high-order, nonlinear, multivariable system, and the dynamic characteristics of the belt are complex, the generalized object mathematical model of the tension ring is not easy to describe, especially the mutual coupling between tension and speed. The conventional proportional-integral-differential PID adjust...

AI Technical Summary

Problems solved by technology

The technical solutions of these two patents are based on the composite controlled object to construct the neural network inverse, the neural network inverse is combined with the original system to form a pseudo-linear system, and then a linear closed-loop controller is designed for the pseudo-linear system, and finally the linear closed-loop controller is combined with the The neural network is connected in reverse phase to form a neural network inverse composite controller to achieve high-performance control of the induction motor, but its disadvantages are: the method of constructing the neural network inverse composite controller is relatively complicated,

[0004] At present, the typical structure of a conventional first-order active disturbance rejection controller (ADRC, the same below) is mainly composed of three parts: tracking differentiator (TD), extended state observer (ESO), and nonlinear state error feedback (NLSEF). The structure is complex, involving many adjustable parameters, and the calculation burden is mainly concentrated in its nonlinear feedback link, so the calculation amount is large, which makes the control cycle of the system longer

However, the actual application shows that the length of the control period has a great influence on the control performance of the ADRC controller, resulting in a serious decline in the control performance of the system. Difficult to achieve practical application

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