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A Deviation Coupling Control Method Based on Sliding Mode Controller

A technology of deviation coupling and control method, applied in the direction of controlling multiple AC motors, multiple motor speed/torque control, etc., can solve problems such as complex actual working conditions, achieve fast response speed, and eliminate tracking errors

Active Publication Date: 2021-01-08
HUNAN UNIV OF TECH +1
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Problems solved by technology

However, in actual production applications, the complex actual working conditions of the system variable-scale operation in the field of multi-axis servo synchronous control put forward higher requirements for the collaborative control performance of the system

Method used

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  • A Deviation Coupling Control Method Based on Sliding Mode Controller
  • A Deviation Coupling Control Method Based on Sliding Mode Controller
  • A Deviation Coupling Control Method Based on Sliding Mode Controller

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Embodiment Construction

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0032] The embodiment of the present invention adopts a deviation coupling control strategy and uses a speed compensator based on a fixed gain to perform real-time speed compensation on the running system, and ensure synchronous operation among servos while eliminating system tracking errors.

[0033] A kind of deviation coupling control strategy based on sliding mode controller, comprising the following steps:

[0034] The first step is to design the speed co...

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Abstract

The invention discloses a deviation coupling control method based on a sliding mode controller, which relates to the technical field of multi-axis servo synchronization control. The method includes the following steps: S1, designing a speed compensator based on a deviation coupling control strategy to obtain the real-time speed compensation signal delta omega(i) of a first servo in the system andthe synchronization error tao(ij) between an ith servo and a jth servo; and S2, taking a permanent magnet synchronous servo motor as an object to maintain dynamic balance of the speed omega(i) of theith servo. In order to prevent the in-coordination of a multi-axis servo control system caused by the failure of one or more axes in the completion of corresponding actions within a certain period oftime under the complex condition of multi-period variable-ratio operation, the sliding mode controller is used to quickly eliminate the tracking error and the synchronization error between servos in the operation process of the system based on the fast response and insensitivity to parameter perturbation and external disturbance of the sliding mode controller, and thus, synchronization control under the variable-ratio operation condition of the multi-axis servo system is realized.

Description

technical field [0001] The invention relates to the technical field of multi-axis servo synchronous control, in particular to a deviation coupling control method based on a sliding mode controller. Background technique [0002] With the improvement of industrial automation level, multi-axis servo synchronous control technology has been widely used in industrial automatic production systems, such as papermaking systems, robot control systems, printing systems, etc., and has achieved significant application value. However, in actual production applications, the complex actual working conditions of the system's variable-scale operation in the field of multi-axis servo synchronous control put forward higher requirements for the coordinated control performance of the system. [0003] In view of the above problems, considering the safety of the actual production equipment and the quality of the product, no matter in the structure of the control system or in the control algorithm, ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P5/74H02P6/04
CPCH02P5/74H02P6/04
Inventor 何静蒋翔张昌凡缪宇峰丁进毛颂安
Owner HUNAN UNIV OF TECH
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