一种基于虚拟总轴结构的多电机比例同步控制方法

针对现有基于虚轴原理的同步控制算法难以满足某些目标成型系统中比例同步控制要求的问题,设计了一种基于虚拟总轴结构的多电机比例同步控制方法.介绍了多电机比例同步控制结构,并针对系统结构特点,以某跨超声速风洞全挠性喷管型面控制系统为应用背景,设计了电机间比例同步系数分配算法,建立了 4 台电动缸的同步控制仿真模型.仿真实验结果表明:该控制方案收敛速度快,稳定性高,鲁棒性强,能很好地实现多电机的比例同步控制.

A Multi-motor Proportional Synchronization Control Based on Virtual Shaft

To solve the problem that the existed algorithms which based on the virtual shaft control principle are difficult to meet the requirements of the proportional synchronized control in some object contouring system, an improved virtual shaft structure was proposed, which can apply to completely synchronized and proportional synchronized of multi-motor control system. Introduce the construct of the improved virtual shaft, aiming at its characteristics and with the applying background of the full flexible nozzle contour control system in the trans-supersonic wind tunnel, coefficient of proportionality assignment algorithm was designed and the synchronized control simulation mode of four electric cylinders was set up. Simulation results show that the control scheme has a quick convergence rate, good stability behavior and strong robustness, which can effectively achieve multi-motor proportional synchronous control.