| 基于自校正自抗扰控制的多电机协同系统 |
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| 引用本文： | 汪昕杨,刘亚超,钟永彬,高健.基于自校正自抗扰控制的多电机协同系统[J].组合机床与自动化加工技术,2021(2):77-81. |
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| 作者姓名： | 汪昕杨 刘亚超 钟永彬 高健 |
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| 作者单位： | 广东工业大学机电工程学院 |
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| 基金项目： | 广东省重大研发专项(No.2018B090906002)。 |
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| 摘 要： | 针对多电机协同控制系统的同步控制精度问题,提出一种自校正速度补偿器与改进型自抗扰控制器结合的新型控制策略。该方法通过自校正速度补偿器对多轴电机反馈的速度量进行校正补偿,与系统误差一起输入到改进型自抗扰控制器中实现精确控制,以解决多电机协同控制系统在实际应用中存在的滞后性、抗干扰能力弱等问题。通过仿真验证所提方法对系统跟踪精度和抗干扰能力的有效性,仿真结果表明,在高频噪声影响下,该方法能够大幅提升系统的响应速度和抗干扰能力,有效实现多电机的精密协同控制。
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| 关 键 词： | 协同控制 自校正 控制性能 高频噪声 |
Multi-motor Coordinated System Based on Self-correction Active Disturbance Rejection Control |
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| WANG Xin-yang,LIU Ya-chao,ZHONG Yong-bin,GAO Jian.Multi-motor Coordinated System Based on Self-correction Active Disturbance Rejection Control[J].Modular Machine Tool & Automatic Manufacturing Technique,2021(2):77-81. |
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| Authors: | WANG Xin-yang LIU Ya-chao ZHONG Yong-bin GAO Jian |
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| Affiliation: | (College of Mechanical and Electrical Engineering, Guangdong University of Technology, Guangzhou 510006, China) |
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| Abstract: | Focusing on the problem of synchronous control accuracy of multi-motor coordinated control system,a new control strategy combining self-correction speed compensator and improved active disturbance rejection controller is proposed.The method corrects and compensates the speed of the multi-axis motor feedback from the self-correction speed compensator,and inputs it into the improved active disturbance rejection controller together with system error to realize precise control and solve the problems of hysteresis and weak anti-interference ability in the practical application of multi-motor coordinated control system.The simulation results show that under the influence of high frequency noise,this method can greatly improve the response speed and anti-interference ability of the system,and effectively realize the precise coordinated control of multi-motor. |
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| Keywords: | coordinated control self-correction control performance high frequency noise |
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