CN105676897B - Multi-machine system intelligent coordination control method - Google Patents
Multi-machine system intelligent coordination control method Download PDFInfo
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- CN105676897B CN105676897B CN201610232047.XA CN201610232047A CN105676897B CN 105676897 B CN105676897 B CN 105676897B CN 201610232047 A CN201610232047 A CN 201610232047A CN 105676897 B CN105676897 B CN 105676897B
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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Abstract
A kind of multi-machine system intelligent coordination control method, innovation are：The control parameter of the multiple master controllers and multiple compensating controllers that are used in the multi-machine system is by joint setting mode synchronization gain；The method have the benefit that：Propose a kind of multi-machine system intelligent coordination control method, pid control parameter involved by this method, it is obtained combine the under conditions of of adjusting to all master controllers and all compensating controllers, and combine when adjusting, dynamic property and the net synchronization capability all respective right of possession corporeal right weight in adjusting target, and weight is adjustable, technical staff can be according to actual conditions, respective weights are adjusted, to obtain the pid control parameter to correspond to actual needs.
Description
Technical field
The present invention relates to a kind of multi_motor control technology more particularly to a kind of multi-machine system intelligent coordination control methods.
Background technology
Multi-machine system control problem is prevalent in industrial production industry, such as conticaster, rolling mill, paper machine, dye
Complete machine etc., the product quality and production efficiency of these equipment and the dynamic property and net synchronization capability of multi-machine system are closely related,
This just proposes higher requirement to the performance of multi-machine system.
In the prior art, it is used for the control device of multi-machine system, mostly uses industrial common PID (ratio, product greatly
Point and differential) controller in the prior art, applying to make multi-machine system be provided simultaneously with preferable dynamic and synchronism
When aforementioned PID controller, generally there are following two methods：
Method one：For every motor in multi-machine system all individually be equipped with a master controller, by dynamic with it is synchronous
Property simultaneously be used as object function, multiple master controllers combine adjusting by the way of intelligent optimization；Existing for this method
Problem is：Although by dynamic and synchronism while object function is used as when adjusting, since single motor is only configured with one
Master controller, is not provided with individual speed sync compensator, and when actual motion, a master controller is obviously difficult to take into account simultaneously
The requirement of dynamic and synchronism in terms of the two；
Method two：It is that every motor is individually equipped with a speed sync compensator, main control again on the basis of method one
Each performs its own functions for device and speed sync compensator, i.e., master controller is used to adjust the dynamic property of each motor itself and stability
Can, speed sync compensator is not lacked of proper care between being used to control more motors, and keeps good synchronization accuracy；When using method two,
Generally master controller and speed sync compensator are adjusted in such a way that substep is adjusted：First, with every motor
Dynamic is target, obtains the pid parameter of the master controller of every motor one by one.Then, using certain coupled modes, Yi Duotai
The synchronism of motor is target, combine adjusting to the pid parameter of the speed sync compensator of multiple electric motors；With one phase of method
Than being that every motor both increases corresponding speed sync compensator in method two, theoretically, using more department of electrical engineering when method two
The net synchronization capability index of system should increase, but in Practical Project, but not be in this way：Although multiple speed sync compensators
Pid parameter is to combine to adjust acquisition as target using synchronism, but in actually controlling, the output of speed sync compensator controls
Amount must be overlapped with the output controlled quentity controlled variable of master controller could obtain final control signal, this allows for final control letter
Number the output controlled quentity controlled variable that former master controller is adjusted using dynamic as target is will deviate from, the dynamic so as to cause motor will be difficult to
Control；Generating the basic reason of foregoing problems is, master controller and speed sync compensator are that substep is independently adjusted, later
When adjusting speed sync compensator, it will affected to the master controller that front has been adjusted.
Invention content
The problem of for background technology, the present invention propose a kind of multi-machine system intelligent coordination control method,
Its innovation is：The multi-machine system include central controller, as controlled device multiple electric motors, with multiple electric motors one by one
Corresponding multiple sub-controllers, with multiple electric motors multiple master controllers, multiple correspondingly with multiple electric motors correspondingly
Compensating controller, with multiple electric motors multiple speed probes correspondingly；
The master controller, sub-controller and speed probe are connect with central controller, the compensating controller
Input terminal is connected with corresponding sub-controller, and the output end of compensating controller is connect with central controller, the central controller
It is connect respectively with the driving device of multiple electric motors；The speed probe is arranged on motor, and speed probe is for detecting electricity
Machine rotating speed；
When multi-machine system is run, controlled as follows：
If the quantity of motor is n platforms, multiple electric motors are numbered with 1 to n Arabic numerals, corresponding to k motors
Master controller, sub-controller and compensating controller be denoted as respectively k master controllers, k work songs controller and No. k compensation control
Device, the n of k=1,2,3 ...；
When given speed changes, 1) central controller by speed probe to the current rotating speed of each motor into
Row detection, corresponding 1 to n motors tachometer value are denoted as tachometer value 1, tachometer value 2 ... tachometer value n respectively；Then center control
Device calculates separately out the deviation between given speed and every speed value according to given speed and multiple tachometer values, corresponding 1 to
The deviation of n motors is denoted as deviation 1, deviation 2, deviation 3 ... deviation n respectively；
2) multiple deviations are respectively sent to corresponding master controller by central controller, meanwhile, central controller is by such as
Tachometer value is sent to sub-controller by lower method：For k work song controllers, as k=n, central controller is by tachometer value 1 and turns
Speed value n is sent to the sub-controller；As k ≠ n, tachometer value k and tachometer value k+1 are sent to the sub- control by central controller
Device；
3) after master controller receives deviation, PID adjustings is carried out according to deviation and export main control to central controller
Signal, corresponding 1 to n motors main control signal are denoted as main control signal 1, main control signal 2 ... main control signal respectively
n；
4) it after sub-controller receives tachometer value, is handled as follows：
For k work song controllers, as k=n, sub-controller carries out asking poor to tachometer value n and tachometer value 1, then will ask
Poor result is sent to corresponding compensating controller；As k ≠ n, sub-controller carries out asking poor to tachometer value k and tachometer value k+1, so
After poor result will be asked to be sent to corresponding compensating controller；
Compensating controller receives seek poor result after, carry out PID adjustings and export to central controller to mend according to poor result is sought
Control signal is repaid, corresponding 1 to n motors compensating control signal is denoted as compensating control signal 1, compensating control signal respectively
2 ... compensating control signal n；
5) after central controller receives main control signal and compensating control signal, by the corresponding main control signal of serial number and benefit
It repays control signal to be overlapped, obtains drive signal, corresponding 1 to n motors drive signal is denoted as drive signal 1, drives respectively
Dynamic signal 2 ... drive signal n；Then drive signal is sent to the driving device of corresponding motor, driving dress by central controller
It sets and motor speed is adjusted according to drive signal, after motor enters steady-state operation, central controller is by compensating controller
Out of service, central controller directly exports the main control signal that master controller exports to driving device；
Before the multiple compensating controller puts into operation, as follows to multiple master controllers and multiple compensating controllers
Combine adjusting：
1] the proportional parameter that PID is adjusted, integral and three kinds of adjustment parameters of differential are used in single master controller, it is single to mend
It repays and is used for the proportional parameter that PID is adjusted, integral and three kinds of control parameters of differential in controller.It is each according to motor performance
Value range is set separately in adjustment parameter and each control parameter, and each adjustment parameter and each is determined according to the upper limit of value range
Binary code note corresponding to the length of binary code corresponding to a control parameter, single adjustment parameter or single control parameter
For a gene, then there are six genes for correspondence altogether for single master controller and single compensating controller；Number an identical master control
Device processed and a compensating controller form a unit, then multiple master controllers and multiple compensating controllers form multiple units；
Six sequences in the gene corresponding to individual unit form a gene section together, the corresponding multiple gene sections arrangements of multiple units
A chromosome is formed together；After each gene in chromosome is assigned to initial value, which forms an adjusting
Body uses random assignment mode within the scope of each parameter value, obtains multiple adjusting individuals, and multiple adjusting individuals are formed at the beginning of one
Beginning population calculates each fitness f for adjusting individual in initial population；
2] pass through l-G simulation test, Dynamic Regulating Process of the simulation multi-machine system when given speed changes, experiment
In the process, processing is iterated to initial population using genetic algorithm, finds the maximum adjusting individuals of fitness f, fitness f is most
Big adjusting individual is denoted as optimum individual；
3] processing is decoded to optimum individual, by each gene in optimum individual be reduced to corresponding adjustment parameter and
Then control parameter stores adjustment parameter and control parameter into corresponding master controller and compensating controller, tuning process
It completes；
The expression formula of the fitness f is：
F=α f1+(1-α)f2
Wherein, f1To characterize the fitness function of multi-machine system dynamic property, f2To characterize multi-machine system net synchronization capability
Fitness function, α is weight coefficient, the value range of α be (0,1]；The value of α more levels off to 0, then the property of multi-machine system
The synchronism that can be more heavily weighted toward between multiple electric motors, the value of α, which more levels off to, 1 or is equal to 1, then the performance of multi-machine system is more inclined
Overweight the dynamic of motor；
f1Expression formula be：
f1=1/JITAE1
Wherein, JITAE1For the ITAE performance indicators of corresponding dynamic property；
JITAE1Expression formula be：
Wherein, t is the time, and T is the time span of Dynamic Regulating Process during l-G simulation test；E (t) is each motor
The sum of Error Absolute Value；
The expression formula of e (t) is：
Wherein, ek(t) error between k motors given speed therewith output speed；
ek(t) expression formula is：
ek(t)=ω*(t)-ωk(t)
Wherein, ω*(t) it is given speed, ωk(t) it is the output speed of k motors；
f2Expression formula be：
f2=1/JITAE2
Wherein, JITAE2For the ITAE performance indicators of corresponding net synchronization capability；
JITAE2Expression formula be：
Wherein, t is the time, and T is the time span of Dynamic Regulating Process during l-G simulation test；ε (t) is the adjacent electricity of serial number
The sum of Error Absolute Value between machine；
The expression formula of ε (t) is：
Wherein, εk(t) error between previous motor and the output speed of latter motor；
As k ≠ n, εk(t)=ωk(t)-ωk+1(t), as k=n, εn(t)=ωn(t)-ω1(t)；ωk(t) it is k
The output speed of number motor, ωk+1(t) it is the output speed of k+1 motors, ωn(t) it is the output speed of n motors, ω1(t)
For the output speed of No. 1 motor.
The principle of the present invention is：Method two in background technology can yet be regarded as it is a kind of improve multi-machine system performance preferable think of
Road, but due to the inherent shortcoming present in its setting mode, cause its performance not fully up to expectations.Can then inventor considers,
Master controller and speed sync compensator combine adjusting with a kind of new setting mode, to make final control believe
Number it can take into account the dynamic of multi-machine system and take into account the synchronism of multi-machine system, or make dynamic and synchronism
Respectively shared weight is controllable in the controls, rather than " is difficult to control " as described in method two；Along this think of
Road, inventor has carried out a large amount of experimental study, and has finally obtained the solution of the present invention.
In the present invention, pass through f=α f1+(1-α)f2It is weighed to adjusting dynamic property in target and net synchronization capability
It reassigns, by adjusting the size of α, we can carry out control to the tendentiousness for adjusting target, as made finally to adjust out
Controller parameter is more prone to the dynamic property of motor, then can be larger by the acquirement of the value of α, such as makes the control finally adjusted out
Device parameter processed is more prone to the net synchronization capability of motor, then can be smaller by the acquirement of the value of α, such as makes the control finally adjusted out
Device parameter can take into account dynamic property but also take into account net synchronization capability, then α can be taken to moderate value；After α values determine, multiple master controls
The parameter of device processed and multiple compensating controllers it is same adjust to combine under goal condition adjust to obtain, avoiding problems adjust step by step
When, in adjusting later the problem of impacting will be adjusted to front；It is bright known the solution of the present invention after, this field skill
Art personnel can according to actual needs and specifically control purpose, and the value of α is rationally determined by testing；About genetic algorithm：
Known property based on genetic algorithm, and in view of genetic algorithm is not in the present invention improved core, and only as one
Kind algorithmic tool, therefore the present invention introduces more rough to its specific iterative process, if having place not to the utmost, this field
Technical staff should understand the present invention in a manner of the genetic algorithm iterative processing disclosed in existing literature.
The method have the benefit that：Propose a kind of multi-machine system intelligent coordination control method, this method institute
The pid control parameter being related to is obtained combine the under conditions of of adjusting to all master controllers and all compensating controllers
, and combine when adjusting, dynamic property and the net synchronization capability all respective right of possession corporeal right weight in adjusting target, and weight is adjustable, skill
Art personnel can be adjusted respective weights according to actual conditions, to obtain the pid control parameter to correspond to actual needs.
Description of the drawings
Fig. 1 is the systematic schematic diagram of the present invention (by taking 4 motors as an example)；
Title in figure corresponding to each label is respectively：Given speed ω*(t), the output speed ω of No. 1 motor1(t)、
The output speed ω of No. 2 motors2(t), the output speed ω of No. 3 motors3(t), the output speed ω of No. 4 motors4(t), No. 1 electricity
The machine given speed error e between output speed therewith1(t), No. 2 motor given speeds error e between output speed therewith2
(t), No. 3 motor given speeds error e between output speed therewith3(t), No. 4 motor given speeds therewith output speed it
Between error e4(t), the error ε between No. 1 motor and the output speed of No. 2 motors1(t), the output of No. 2 motors and No. 3 motors
Error ε between speed2(t), the error ε between No. 3 motors and the output speed of No. 4 motors3(t), No. 4 motors and No. 1 motor
Output speed between error ε4(t), drive signal 1u1(t), drive signal 2u2(t), drive signal 3u3(t), driving letter
Number 4u4(t)。
Specific implementation mode
A kind of multi-machine system intelligent coordination control method, innovation are：The multi-machine system includes that center controls
Device, as controlled device multiple electric motors, with multiple electric motors correspondingly multiple sub-controllers, with multiple electric motors correspond
Multiple master controllers, with multiple electric motors correspondingly multiple compensating controllers, one-to-one multiple turns with multiple electric motors
Fast sensor；
The master controller, sub-controller and speed probe are connect with central controller, the compensating controller
Input terminal is connected with corresponding sub-controller, and the output end of compensating controller is connect with central controller, the central controller
It is connect respectively with the driving device of multiple electric motors；The speed probe is arranged on motor, and speed probe is for detecting electricity
Machine rotating speed；
When multi-machine system is run, controlled as follows：
If the quantity of motor is n platforms, multiple electric motors are numbered with 1 to n Arabic numerals, corresponding to k motors
Master controller, sub-controller and compensating controller be denoted as respectively k master controllers, k work songs controller and No. k compensation control
Device, the n of k=1,2,3 ...；
When given speed changes, 1) central controller by speed probe to the current rotating speed of each motor into
Row detection, corresponding 1 to n motors tachometer value are denoted as tachometer value 1, tachometer value 2 ... tachometer value n respectively；Then center control
Device calculates separately out the deviation between given speed and every speed value according to given speed and multiple tachometer values, corresponding 1 to
The deviation of n motors is denoted as deviation 1, deviation 2, deviation 3 ... deviation n respectively；
2) multiple deviations are respectively sent to corresponding master controller by central controller, meanwhile, central controller is by such as
Tachometer value is sent to sub-controller by lower method：For k work song controllers, as k=n, central controller is by tachometer value 1 and turns
Speed value n is sent to the sub-controller；As k ≠ n, tachometer value k and tachometer value k+1 are sent to the sub- control by central controller
Device；
3) after master controller receives deviation, PID adjustings is carried out according to deviation and export main control to central controller
Signal, corresponding 1 to n motors main control signal are denoted as main control signal 1, main control signal 2 ... main control signal respectively
n；
4) it after sub-controller receives tachometer value, is handled as follows：
For k work song controllers, as k=n, sub-controller carries out asking poor to tachometer value n and tachometer value 1, then will ask
Poor result is sent to corresponding compensating controller；As k ≠ n, sub-controller carries out asking poor to tachometer value k and tachometer value k+1, so
After poor result will be asked to be sent to corresponding compensating controller；
Compensating controller receives seek poor result after, carry out PID adjustings and export to central controller to mend according to poor result is sought
Control signal is repaid, corresponding 1 to n motors compensating control signal is denoted as compensating control signal 1, compensating control signal respectively
2 ... compensating control signal n；
5) after central controller receives main control signal and compensating control signal, by the corresponding main control signal of serial number and benefit
It repays control signal to be overlapped, obtains drive signal, corresponding 1 to n motors drive signal is denoted as drive signal 1, drives respectively
Dynamic signal 2 ... drive signal n；Then drive signal is sent to the driving device of corresponding motor, driving dress by central controller
It sets and motor speed is adjusted according to drive signal, after motor enters steady-state operation, central controller is by compensating controller
Out of service, central controller directly exports the main control signal that master controller exports to driving device；
Before the multiple compensating controller puts into operation, as follows to multiple master controllers and multiple compensating controllers
Combine adjusting：
1] the proportional parameter that PID is adjusted, integral and three kinds of adjustment parameters of differential are used in single master controller, it is single to mend
It repays and is used for the proportional parameter that PID is adjusted, integral and three kinds of control parameters of differential in controller, be each according to motor performance
Value range is set separately in adjustment parameter and each control parameter, and each adjustment parameter and each is determined according to the upper limit of value range
Binary code note corresponding to the length of binary code corresponding to a control parameter, single adjustment parameter or single control parameter
For a gene, then there are six genes for correspondence altogether for single master controller and single compensating controller；Number an identical master control
Device processed and a compensating controller form a unit, then multiple master controllers and multiple compensating controllers form multiple units；
Six sequences in the gene corresponding to individual unit form a gene section together, the corresponding multiple gene sections arrangements of multiple units
A chromosome is formed together；After each gene in chromosome is assigned to initial value, which forms an adjusting
Body uses random assignment mode within the scope of each parameter value, obtains multiple adjusting individuals, and multiple adjusting individuals are formed at the beginning of one
Beginning population calculates each fitness f for adjusting individual in initial population；
2] pass through l-G simulation test, Dynamic Regulating Process of the simulation multi-machine system when given speed changes, experiment
In the process, processing is iterated to initial population using genetic algorithm, finds the maximum adjusting individuals of fitness f, fitness f is most
Big adjusting individual is denoted as optimum individual；
3] processing is decoded to optimum individual, by each gene in optimum individual be reduced to corresponding adjustment parameter and
Then control parameter stores adjustment parameter and control parameter into corresponding master controller and compensating controller, tuning process
It completes；
The expression formula of the fitness f is：
F=α f1+(1-α)f2
Wherein, f1To characterize the fitness function of multi-machine system dynamic property, f2To characterize multi-machine system net synchronization capability
Fitness function, α is weight coefficient, the value range of α be (0,1]；The value of α more levels off to 0, then the property of multi-machine system
The synchronism that can be more heavily weighted toward between multiple electric motors, the value of α, which more levels off to, 1 or is equal to 1, then the performance of multi-machine system is more inclined
Overweight the dynamic of motor；
f1Expression formula be：
f1=1/JITAE1
Wherein, JITAE1For the ITAE performance indicators of corresponding dynamic property；
JITAE1Expression formula be：
Wherein, t is the time, and T is the time span of Dynamic Regulating Process during l-G simulation test；E (t) is each motor
The sum of Error Absolute Value；
The expression formula of e (t) is：
Wherein, ek(t) error between k motors given speed therewith output speed；
ek(t) expression formula is：
ek(t)=ω*(t)-ωk(t)
Wherein, ω*(t) it is given speed, ωk(t) it is the output speed of k motors；
f2Expression formula be：
f2=1/JITAE2
Wherein, JITAE2For the ITAE performance indicators of corresponding net synchronization capability；
JITAE2Expression formula be：
Wherein, t is the time, and T is the time span of Dynamic Regulating Process during l-G simulation test；ε (t) is the adjacent electricity of serial number
The sum of Error Absolute Value between machine；
The expression formula of ε (t) is：
Wherein, εk(t) error between previous motor and the output speed of latter motor；
As k ≠ n, εk(t)=ωk(t)-ωk+1(t), as k=n, εn(t)=ωn(t)-ω1(t)；ωk(t) it is k
The output speed of number motor, ωk+1(t) it is the output speed of k+1 motors, ωn(t) it is the output speed of n motors, ω1(t)
For the output speed of No. 1 motor.
Fig. 1 is the systematic schematic diagram of the present invention by taking 4 motors as an example；
Multi-machine system, the rated power P of each motor are built with 4 ac three-phase asynchronous motors of YS seriese1、Pe2、
Pe3And Pe4Respectively：Pe1=Pe3=2.2kW, Pe2=Pe4=2.0kW；The stator resistance R of each motors1、Rs2、Rs3And Rs4Point
It is not：
Rs1=0.47 Ω, Rs2=0.49 Ω, Rs3=0.53 Ω, Rs4=0.51 Ω；The number of pole-pairs of each motor is 2；Respectively
The rotary inertia J of platform motor1、J2、J3And J4Respectively：J1=J3=7.2 × 10-3kg.m2, J2=J4=6.8 × 10-3kg.m2；
Under conditions of weight coefficient α takes 0.4 and 0.85 respectively, respectively in multi-machine system multiple master controllers and multiple compensation
Controller combine adjusting, and then the master controller adjusted and compensating controller put into operation respectively and carry out emulation examination
It tests：After multi-machine system startup, given rotating speed is set as ω*(t)=1000rpm, in the process of multi-machine system operation
In, dynamic performance index and net synchronization capability index are continuously monitored, the dynamic performance index and net synchronization capability monitored refers to
Mark is as shown in the table：
As seen from the table, the case where taking 0.4 compared to α, when α takes 0.85, the control parameter of system is more prone to system
Dynamic property.
Claims (1)
1. a kind of multi-machine system intelligent coordination control method, it is characterised in that：The multi-machine system include central controller,
As controlled device multiple electric motors, with multiple electric motors multiple sub-controllers, one-to-one with multiple electric motors correspondingly
Multiple master controllers, with multiple electric motors correspondingly multiple compensating controllers, with multiple electric motors multiple rotating speeds correspondingly
Sensor；
The master controller, sub-controller and speed probe are connect with central controller, the input of the compensating controller
End is connected with corresponding sub-controller, and the output end of compensating controller is connect with central controller, the central controller difference
It is connect with the driving device of multiple electric motors；The speed probe is arranged on motor, and speed probe turns for detecting motor
Speed；
When multi-machine system is run, controlled as follows：
If the quantity of motor is n platforms, multiple electric motors are numbered with 1 to n Arabic numerals, the master corresponding to k motors
Controller, sub-controller and compensating controller are denoted as k master controllers, k work songs controller and k compensating controllers, k=respectively
1,2,3……n；
When given speed changes, 1) central controller examines the current rotating speed of each motor by speed probe
It surveys, corresponding 1 to n motors tachometer value is denoted as tachometer value 1, tachometer value 2 ... tachometer value n respectively；Then central controller root
According to given speed and multiple tachometer values, the deviation between given speed and every speed value is calculated separately out, it is 1 to No. n corresponding
The deviation of motor is denoted as deviation 1, deviation 2, deviation 3 ... deviation n respectively；
2) multiple deviations are respectively sent to corresponding master controller by central controller, meanwhile, central controller presses such as lower section
Tachometer value is sent to sub-controller by method：For k work song controllers, as k=n, central controller is by tachometer value 1 and tachometer value
N is sent to the sub-controller；As k ≠ n, tachometer value k and tachometer value k+1 are sent to the sub-controller by central controller；
3) after master controller receives deviation, PID adjustings is carried out according to deviation and export main control signal to central controller,
The main control signal of correspondence 1 to n motors is denoted as main control signal 1, main control signal 2 ... main control signal n respectively；
4) it after sub-controller receives tachometer value, is handled as follows：
For k work song controllers, as k=n, sub-controller carries out asking poor to tachometer value n and tachometer value 1, then will seek poor knot
Fruit is sent to corresponding compensating controller；As k ≠ n, sub-controller carries out asking poor to tachometer value k and tachometer value k+1, then will
Poor result is asked to be sent to corresponding compensating controller；
Compensating controller receives seek poor result after, according to asking poor result to carry out PID adjustings and export compensation control to central controller
Signal processed, corresponding 1 to n motors compensating control signal are denoted as compensating control signal 1, compensating control signal 2 ... benefit respectively
Repay control signal n；
5) after central controller receives main control signal and compensating control signal, the corresponding main control signal of serial number and compensation are controlled
Signal processed is overlapped, and obtains drive signal, and corresponding 1 to n motors drive signal is denoted as drive signal 1, driving letter respectively
Numbers 2 ... drive signal n；Then drive signal is sent to the driving device of corresponding motor, driving device root by central controller
Motor speed is adjusted according to drive signal, after motor enters steady-state operation, central controller stops compensating controller
Operation, central controller directly export the main control signal that master controller exports to driving device；
Before the multiple compensating controller puts into operation, multiple master controllers and multiple compensating controllers are carried out as follows
Combine and adjusts：
1] the proportional parameter that PID is adjusted, integral and three kinds of adjustment parameters of differential are used in single master controller, single compensation to be controlled
It is used for the proportional parameter that PID is adjusted, integral and three kinds of control parameters of differential in device processed, is each adjusting according to motor performance
Value range is set separately in parameter and each control parameter, and each adjustment parameter and each control are determined according to the upper limit of value range
Binary code corresponding to the length of binary code corresponding to parameter processed, single adjustment parameter or single control parameter is denoted as one
A gene, then there are six genes for correspondence altogether for single master controller and single compensating controller；Number an identical master controller
A unit is formed with a compensating controller, then multiple master controllers and multiple compensating controllers form multiple units；Individually
Six sequences in the gene corresponding to unit form a gene section together, and the corresponding multiple gene sections of multiple units are arranged in one
It rises and forms a chromosome；After each gene in chromosome is assigned to initial value, which forms one and adjusts individual,
Random assignment mode is used within the scope of each parameter value, obtains multiple adjusting individuals, and multiple adjusting individuals form one initial kind
Group calculates each fitness f for adjusting individual in initial population；
2] by l-G simulation test, Dynamic Regulating Process of the simulation multi-machine system when given speed changes tests process
In, processing is iterated to initial population using genetic algorithm, finds the maximum adjusting individuals of fitness f, fitness f is maximum
It adjusts individual and is denoted as optimum individual；
3] processing is decoded to optimum individual, each gene in optimum individual is reduced to corresponding adjustment parameter and control
Then parameter stores adjustment parameter and control parameter into corresponding master controller and compensating controller, tuning process is completed；
The expression formula of the fitness f is：
F=α f1+(1-α)f2
Wherein, f1To characterize the fitness function of multi-machine system dynamic property, f2For the suitable of characterization multi-machine system net synchronization capability
Response function, α are weight coefficient, the value range of α be (0,1]；The value of α more levels off to 0, then the performance of multi-machine system is more
Bias toward the synchronism between multiple electric motors, the value of α, which more levels off to, 1 or is equal to 1, then the performance of multi-machine system is more heavily weighted toward
The dynamic of motor；
f1Expression formula be：
f1=1/JITAE1
Wherein, JITAE1For the ITAE performance indicators of corresponding dynamic property；
JITAE1Expression formula be：
Wherein, t is the time, and T is the time span of Dynamic Regulating Process during l-G simulation test；E (t) is the error of each motor
The sum of absolute value；
The expression formula of e (t) is：
Wherein, ek(t) error between k motors given speed therewith output speed；
ek(t) expression formula is：
ek(t)=ω*(t)-ωk(t)
Wherein, ω*(t) it is given speed, ωk(t) it is the output speed of k motors；
f2Expression formula be：
f2=1/JITAE2
Wherein, JITAE2For the ITAE performance indicators of corresponding net synchronization capability；
JITAE2Expression formula be：
Wherein, t is the time, and T is the time span of Dynamic Regulating Process during l-G simulation test；ε (t) be the adjacent motor of serial number it
Between the sum of Error Absolute Value；
The expression formula of ε (t) is：
Wherein, εk(t) error between previous motor and the output speed of latter motor；
As k ≠ n, εk(t)=ωk(t)-ωk+1(t), as k=n, εn(t)=ωn(t)-ω1(t)；ωk(t) it is k electricity
The output speed of machine, ωk+1(t) it is the output speed of k+1 motors, ωn(t) it is the output speed of n motors, ω1(t) it is 1
The output speed of number motor.
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