引入扰动补偿的多电机滑模协同控制研究

目的 解决多电机协同控制时容易受到非线性和外界扰动等不定因素的影响。方法 基于多电机偏差耦合控制结构，与引入扰动补偿的混合非奇异终端滑模变结构控制相结合，并与传统PI(Proportional Integral)调节器控制效果做仿真对比。结果 本文所提控制算法通过计算机仿真软件进行验证分析，该算法能够使得电机在启动时效果较好，转速误差在受到扰动时效果优于传统PI控制约8.50%；电机转矩在受到扰动后控制效果更加理想，几乎不存在迟滞时间就能达到新的负载转矩值；在受到负载扰动时转速误差波动较小，优于传统PI控制约8.83%。结论 通过计算机仿真验证得出，引入扰动补偿后的混合非奇异终端滑模变结构控制系统的响应时间和收敛速度、控制性能和鲁棒性都要优于传统PI控制的。

Multi-motor Sliding Mode Cooperative Control by Introducing Disturbance Compensation

The work aims to solve the problem that the multi-motor cooperative control is easily affected by uncertain factors such as nonlinearity and external interference. Based on the multi-motor deviation coupling control structure, the hybrid non-singular end sliding mode with disturbance compensation was combined with the variable structure control to conduct simulation comparison with the traditional PI (Proportional Integral) regulator in terms of control effect. Focusing on the verification and analysis of the proposed control algorithm by computer simulation software, it could be concluded as follows. First, when the overall disturbance was encountered, the speed error could be improved by 8.50% compared with the traditional PI control. Specifically, when the motor torque was disturbed, the control effect was more ideal, in which the new load torque value can be reached with almost no lag time. In addition, when load disturbance occurred, the speed error fluctuation was smaller, which was improved by about 8.83% compared with traditional PI control. In general, according to verification through computer simulation, the hybrid non-singular end sliding mode variable structure control system with disturbance compensation is superior to the traditional PI control in response time, convergence speed, control performance and robustness.