CN108322101B - Fuzzy self-adjusting deviation coupling multi-motor synchronous control method - Google Patents
Fuzzy self-adjusting deviation coupling multi-motor synchronous control method Download PDFInfo
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Abstract
A fuzzy self-adjusting deviation coupling multi-motor synchronous control method comprises the following steps: designing a fuzzy self-adjusting filtering controller which is combined by a fuzzy controller and a first-order inertia filter and is used for controlling a plurality of motors, taking given rotating speed and torque as the input of the fuzzy self-adjusting filtering controller, and taking softening rotating speed as the output of the fuzzy self-adjusting filtering controller, wherein the softening rotating speed refers to the given rotating speed actually received by each motor; an advance correction link is introduced to design an advance synchronous compensator, so that the response speed of each motor is accelerated while the starting synchronization performance is improved; calculating the synchronous error of the starting process and the steady-state operation sudden load; and comparing the dynamic response speed characteristics of the motors, and verifying the effectiveness of the lead synchronous compensator in improving the dynamic response speed of the motors. The invention not only improves the synchronization performance of the multiple motors when starting and given rotating speed suddenly change, but also improves the synchronization performance of the multiple motors when load is suddenly added under a steady state.
Description
Technical Field
The invention relates to a multi-motor synchronous control method. In particular to a fuzzy self-adjusting deviation coupling multi-motor synchronous control method for multi-motor speed cooperative control.
Background
The deviation coupling control structure is proposed by Perez-Pinal et al in 2003, as shown in FIG. 1, the method introduces a synchronous compensator, makes a difference between the rotating speeds of any one motor and other motors, multiplies the rotating speeds by the ratio of the rotating inertia of the motor and other motors respectively, and then determines the rotating speed compensation amount by summation, thereby achieving the purpose of reducing the synchronous error among the multiple motors and effectively expanding the number of the motors in the multiple-motor system to 3 or more. However, since the synchronous compensator adopted by the conventional offset coupling control structure is of fixed gain, the stability of the system is greatly affected when the load variation is large. Then, some scholars propose synchronous compensators based on PI control, and the method can comprehensively consider the influence of factors such as motor parameters, load disturbance and the like, correct the compensation value of the synchronous compensator in real time, effectively improve the stability of the system, but the synchronous compensator can not perform differential adjustment on each motor according to the load disturbance. And then, a deviation coupling control structure based on floating compensation is proposed, priority is generated through a coordinator, only the synchronous compensator with the highest floating compensation priority can perform compensation, and the method can perform preferential adjustment on the motor with larger speed fluctuation, but the starting time is increased correspondingly. In order to solve the above problems, many scholars apply control methods such as a second-order sliding mode, an internal model control, a neural network and the like to a deviation coupling control method respectively, and improve the synchronization and tracking performance of a multi-motor system by improving the performance of a single motor during steady-state sudden load application.
However, the offset coupling control structure still has the following problems during multi-motor starting: (1) the tracking error of the motor at the initial starting moment is far larger than the output of the synchronous compensator, so the input value of the rotating speed ring controller is larger in the starting process, however, the output of the rotating speed ring controller generally contains an amplitude limiting link in consideration of the safety requirement of the system, so the electromagnetic torque output after passing through the rotating speed ring controller and the amplitude limiting link is in a saturated state for a period of time, at the moment, the synchronous compensator is basically invalid, and the synchronous error is still large; (2) when the fluctuation of the system speed is large, the synchronous compensator with fixed gain can not adjust each motor in real time according to disturbance, so that the adjustment time of the motor is long when the motor is started or the given speed changes suddenly; (3) for a deviation coupling control system with n motors, the synchronous compensator has n inputs, and when a certain motor breaks down and exits operation or needs to be added with a new motor, the synchronous compensator of each motor needs to reduce or increase the inputs, so that the expandability is poor.
Disclosure of Invention
The invention aims to solve the technical problem of providing a fuzzy self-adjusting deviation coupling multi-motor synchronous control method which can reduce the synchronous error of the loaded starting process of a motor and improve the stability of a system.
The technical scheme adopted by the invention is as follows: a fuzzy self-adjusting deviation coupling multi-motor synchronous control method comprises the following steps:
1) designing a fuzzy self-adjusting filtering controller which is combined by a fuzzy controller and a first-order inertia filter and is used for controlling a plurality of motors, taking given rotating speed and torque as the input of the fuzzy self-adjusting filtering controller, and taking softening rotating speed as the output of the fuzzy self-adjusting filtering controller, wherein the softening rotating speed refers to the given rotating speed actually received by each motor;
2) an advance correction link is introduced to design an advance synchronous compensator, so that the response speed of each motor is accelerated while the starting synchronization performance is improved;
3) calculating the synchronous error of the starting process and the steady-state operation sudden load;
4) and comparing the dynamic response speed characteristics of the motors, and verifying the effectiveness of the lead synchronous compensator in improving the dynamic response speed of the motors.
The softening rotation speed in the step 1) is expressed as:
in the formula, ωrefSetting the rotating speed of each motor; omegamaxOutputting the maximum value of the rotating speed values for all the motors; alpha is a softening coefficient; is a steady state coefficient; omega* refSoftening the rotation speed; 0<α<1; the step 1) comprises the following steps:
the fuzzy controller smoothly adjusts the softening coefficient alpha according to different given rotating speeds and torques, outputs the softening coefficient alpha to the mode selector, and simultaneously inputs the steady-state coefficient to the mode selector; when each motor is in the stage of starting or giving sudden change of rotating speed, the fuzzy controller outputs the softening coefficient alpha to the first-order inertia filter, and the first-order inertia filter outputs the softening rotating speed omega according to the softening coefficient alpha* refThe rotation speed of each motor is used, so that each motor can run along the track of the softened rotation speed, and the synchronization error is reduced; when each motor gradually enters a stable state, the fuzzy controller outputs the stable state coefficient to the first-order inertia filter, and the first-order inertia filter outputs the softening rotating speed omega according to the stable state coefficient* refAs the rotating speed of each motor, the dynamic response speed of the system is improved.
The lead correction procedure in step 2) is represented as:
wherein T is a lead time constant; s is a Laplace transform factor; η is an attenuation factor, where η > 1;
the lead synchronous compensator comprises: output beta of each motor after correcting and controlling the rotating speed differenceiWherein the correction control comprises a fixed gain K and a correction element F which are sequentially carried outg。
Calculating the synchronous error between the starting process and the steady-state operation sudden load, namely considering the starting initial stage, neglecting the integral link of the rotating speed loop controller in the double closed loops of the motor, and setting the input of the rotating speed loop controller of the jth motor in the starting process as ejExpressed as:
in the formula,. DELTA.omegaj *＝ω* ref-ωj，ω* refTo soften the speed of rotation, omegajThe output rotating speed of the jth motor is obtained; omegaiThe output rotating speed of the ith motor is; Δ ωj＝ωref-ωjThe tracking error of the jth motor is obtained; Δ ωji＝ωj-ωiThe synchronization error between the jth motor and the ith motor is 1, 2, …, n; i is not equal to j;
the synchronous error of the jth motor and the ith motor in the steady-state operation of sudden load is
In the formula, TLiThe load torque of the ith motor; fgA correction link is performed; giIs the transfer function of the ith motor; k, fixing the gain;
the step 4) comprises the following steps: considering the influence of the fluctuation of the rotation speed of the jth motor on the ith motorOutput speed omega of machinejAs input, the output rotation speed omega of the ith motoriAs a transfer function in the output of
In the formula, ωi(s) is the output rotating speed of the ith motor; omegaj(s) is the output rotating speed of the jth motor; fg(s) is a correction link; gi(s) is the transfer function of the ith motor; k, fixing the gain; f(s) is a rotating speed ring controller in a double closed loop;
when K is 2, a phase frequency characteristic and an amplitude frequency characteristic bode diagram of the above formula are drawn, and the cutoff frequency is obtained from the diagram and the dynamic response speed of each motor is improved.
According to the fuzzy self-adjusting deviation coupling multi-motor synchronous control method, a fuzzy self-adjusting filtering link is constructed, and the softening rotating speed of each motor is smoothly adjusted according to the load torque information and the actual given rotating speed, so that each motor runs along the track of the softening rotating speed, and the synchronous error of the loaded starting process of the motor is reduced; and the phase advance quantity is obtained by utilizing the phase advance characteristic, the cut-off frequency is increased, the adjusting time of the system is shortened, and the stability of the system is improved. The invention not only improves the synchronization performance of the multiple motors when starting and given rotating speed suddenly change, but also improves the synchronization performance of the multiple motors when load is suddenly added under a steady state.
Drawings
FIG. 1a is a schematic diagram of a prior art offset coupling control method;
FIG. 1b is F in FIG. 1aiSchematic equivalent diagram of
FIG. 2 is a schematic diagram of a fuzzy self-adjusting deviation coupling multi-motor synchronous control method according to the present invention;
FIG. 3 is a diagram of fuzzy controller input and output relationships;
FIG. 4a is a fuzzy controller input ωrefA membership function of;
FIG. 4b is a fuzzy controller input TLmaxA membership function of;
FIG. 4c is a membership function of the fuzzy controller input α;
FIG. 5a is a schematic diagram of the speed loop controller input for a load motor in a prior art offset coupling control method;
FIG. 5b is a schematic diagram of the speed loop controller input for a no-load motor in a prior art offset coupling control method;
FIG. 5c is a schematic diagram of the tachometer loop controller input to the load motor in the method of the present invention;
FIG. 5d is a schematic diagram of the speed loop controller input for the no-load motor in the method of the present invention;
FIG. 6 is a schematic diagram of a lead synchronous compensator;
FIG. 7a is a schematic amplitude diagram of a controlled object characteristic bode diagram before and after correction;
FIG. 7b is a phase diagram of the controlled object characteristic bode diagram before and after correction.
Detailed Description
The fuzzy self-adjusting deviation coupling multi-motor synchronous control method is described in detail in the following with reference to the embodiments and the accompanying drawings.
The invention introduces the dynamic and static performances of each motor in a multi-motor control system by taking a Permanent Magnet Synchronous Motor (PMSM) as an object, and the motion equation of the PMSM is
Wherein J is moment of inertia; omega is the rotor angular speed of the motor; t iseIs an electromagnetic torque; t isLIs the load torque; kTIs a torque coefficient; b is the friction coefficient.
For convenient analysis, the motor system is generally equivalent to an integration link, and the current loop delay and the speed measurement delay are ignored. The structure block diagram of the deviation coupling control is shown in fig. 1. In the figure,. omega.refSetting the rotating speed of each motor; t isLiThe load torque of the ith motor; fiA rotating speed ring controller of the ith motor; ith motor MiHas an equivalent transfer function of Gi(s)＝1/(Jis)；ωiThe output rotating speed of the ith motor is; t isuiOutputting the electromagnetic torque of the ith motor without amplitude limiting; t iseiOutputting the electromagnetic torque after amplitude limiting; e.g. of the typeiIs the input of the ith motor speed loop controller, has
ei＝△ωi-βi(7)
In the formula,. DELTA.omegaiThe tracking error of the ith motor; beta is aiFor synchronizing the output of the compensator, there are
In the formula, KijAnd the synchronous compensation coefficient between the ith motor and the jth motor is obtained.
Taking the ith motor as an example for analysis, a rotating speed ring controller Fi＝KPi+KIiS, coefficient of proportionality KPiAnd integral coefficient KIiThe setting and the adjustment are required according to the overall dynamic and static performances of the rotating speed ring.
Usually let KPi＝fc·Ji，KIi＝[fc/(2ζ)]2·Ji，fcAnd ζ are the bandwidth and damping coefficient of the speed loop, respectively. After each motor is set according to the method, F is providedi(s)Gi(s)＝F(s)G(s)＝fc/s+[fc/(2ζ)]2/s2I.e. the open loop transfer function of each motor is the same, independent of the moment of inertia, so that the synchronous compensation coefficient between motors can take the same value, let Kij＝K。
Aiming at the problems of the deviation coupling control structure in the multi-motor load starting or the given rotating speed sudden change, the invention combines a fuzzy self-adjusting filtering controller and a lead synchronous compensator to provide the fuzzy self-adjusting deviation coupling control structure, and the control structure block diagram of n motors is shown in figure 2. The lead synchronous compensator has only two inputs, one of which is the output rotating speed omega of the motoriAnd the other is the sum omega of the output rotating speeds of all the motorssI.e. omegas＝ω1+ω2+···+ωn. Output omega of fuzzy self-adjusting control module in figure* refDefined as the softening speed.
As shown in fig. 2, the fuzzy self-adjusting deviation coupling multi-motor synchronous control method of the present invention includes the following steps:
1) designing a fuzzy self-adjusting filtering controller which is combined by a fuzzy controller and a first-order inertia filter and is used for controlling a plurality of motors, taking given rotating speed and torque as the input of the fuzzy self-adjusting filtering controller, and taking softening rotating speed as the output of the fuzzy self-adjusting filtering controller, wherein the softening rotating speed refers to the given rotating speed actually received by each motor; the output rotating speed of each motor can well follow the track of the softened rotating speed, so that the synchronization error among the motors is reduced. Wherein the content of the first and second substances,
the softening rotating speed is expressed as:
in the formula, ωrefSetting the rotating speed of each motor; omegamaxOutputting the maximum value of the rotating speed values for all the motors; alpha is a softening coefficient; is a steady state coefficient; omega* refSoftening the rotation speed; 0<α<1。
Automatic adjustment of softening speed omega using fuzzy self-adjusting filter controller* refSo that it is in sliding form to a given rotation speed omega of each motorrefAnd convergence is carried out, so that the tracking error in the starting stage is close to the output of the synchronous compensator, and the influence of the saturation of the amplitude limiting link of the rotating speed loop controller of the motor on the synchronous error is reduced. The fuzzy self-adjusting filtering controller is shown in fig. 2 as a dashed box. The output α of the fuzzy controller is defined as the softening coefficient, the steady-state control coefficient is 1, and
the step 1) comprises the following steps:
blurringThe controller smoothly adjusts the softening coefficient alpha according to different given rotating speeds and torques, outputs the softening coefficient alpha to the mode selector, and simultaneously inputs the steady-state coefficient to the mode selector; when each motor is in the stage of starting or giving sudden change of rotating speed, the fuzzy controller outputs the softening coefficient alpha to the first-order inertia filter, and the first-order inertia filter outputs the softening rotating speed omega according to the softening coefficient alpha* refThe rotation speed of each motor is used, so that each motor can run along the track of the softened rotation speed, and the synchronization error is reduced; when each motor gradually enters a stable state, the fuzzy controller outputs the stable state coefficient to the first-order inertia filter, and the first-order inertia filter outputs the softening rotating speed omega according to the stable state coefficient* refAs the rotating speed of each motor, the dynamic response speed of the system is improved.
And a fuzzy controller is adopted to automatically adjust the softening coefficient alpha according to different load torque information and an actual given rotating speed value, so that the softening rotating speed of each motor is adjusted, and the output rotating speed of each motor can well follow the track of the softening rotating speed. In addition, a mode selector divides the fuzzy controller into two modes of operation, the mode selection of which depends on ωmax. Mode 1: when ω ismax<0.98ωrefWhen the motor is in a quick starting or given rotating speed sudden change stage, the fuzzy controller and the filtering link act simultaneously, namely the fuzzy controller outputs a softening coefficient alpha, and then the softening coefficient alpha adjusts the softening rotating speed omega through the filtering link* refTherefore, each motor can run along the track of the softening rotating speed, and the synchronization error is reduced; mode 2: when ω ismax≥0.98ωrefWhen the system is in a stable state, the motor is considered to gradually enter the stable state, and only the filtering link acts at the moment, so that the dynamic response speed of the system is improved.
Wherein, the selection principle of the parameter 0.98 is as follows: on the premise that the adjusting time is not longer than that of a traditional deviation coupling structure, the synchronization error is minimized, namely, the synchronization performance is improved, and meanwhile, a faster response speed is obtained. The specific implementation method comprises the following steps: let the parameter be expressed by a softening coefficient alpha, and take n as 3 when the rotation speed omega is given without loss of generalityrefAnd load torque TLmaxAnd (3) when the softening coefficient alpha changes in the (0,1) interval, performing multiple times of simulation on a system without an advanced correction link to select an optimal alpha value. Given rotational speed ωref1000r/min, and the load torques when the three motors are started are respectively TL1＝15N·m，TL2＝T L30. Selecting alpha epsilon (0,1) as input, and adjusting time t of the motor 1sAnd the synchronization error between the motors 1, 212As output, the system without the lead correction link is simulated for a plurality of times, and then the adjustment time t is ensuredsOn the premise of adjusting time less than that of the traditional deviation coupling structure, the order synchronization error delta omega is selected12The minimum corresponding alpha value; then changes omegarefAnd TLmaxA value of where ω isref∈[0,1500]r/min，TLmax∈[0,15]And N m, simulating the system without the lead correction link for multiple times by the same method to obtain a corresponding alpha value.
Input to the fuzzy controller is omegarefAnd TLmaxThe output is alpha. To increase the sensitivity of the control, the input and output are quantized with normalization quantization factors, respectively. Quantized input omegarefAnd TLmaxOutput α all belong to 7 fuzzy subsets in the theory domain, namely { NB NM NS O PS PM PB }, where NB is negative large, NM negative, NS is negative small, O is zero, PS is positive small, PM is positive, and PB is positive large. 49 fuzzy rules can be obtained by the Mamdani reasoning.
To determine the membership function of the fuzzy controller, the following pairs of α and ωref、TLmaxThe relationship between them is analyzed. Without loss of generality, when n is 3, given rotation speed ωrefAnd load torque TLmaxWhen the softening coefficient alpha changes within the interval (0,1), the system shown in fig. 2 (without the fuzzy controller) is simulated for a plurality of times to select the optimal alpha value. The selection method comprises the following steps: firstly, the maximum value delta omega of the synchronous error between the first motor and the second motor is output in a simulation mode12And adjusting the time ts. Then at guarantee tsSelecting the order delta omega on the premise of being less than the adjusting time of the deviation coupling structure12The corresponding alpha value at the minimum is shown in fig. 3. Then theChanging omegarefAnd TLmaxA value of where ω isref∈[0,1500]r/min，TLmax∈[0,15]N · m, the system shown in fig. 2 (without the fuzzy controller) was simulated again a number of times in the same way, resulting in a number of sets of α values, as shown in fig. 3. As can be seen from FIG. 3, in order to ensure better synchronization performance and faster dynamic response speed of the multi-motor control system, the fuzzy rule should be set to have a softening coefficient α following ωrefOr TLmaxIncreasing and decreasing. The corresponding input and output membership functions are shown in fig. 4a, 4b and 4 c.
Since the starting process is most representative of a given sudden change in rotational speed, the present invention specifically analyzes the effectiveness of the fuzzy self-adjusting deviation coupling structure using the starting process as an example. And given the state of the sudden speed reduction, which is equivalent to the state of directly working in the mode 2, the dynamic response speed is also improved due to the action of the lead correction compensation module.
2) An advance correction link is introduced to design an advance synchronous compensator, so that the response speed of each motor is accelerated while the starting synchronization performance is improved; wherein the content of the first and second substances,
the lead correction link is represented as follows:
wherein T is a lead time constant; s is a Laplace transform factor; η is the attenuation factor, where η >1 (definition of look-ahead);
the lead synchronous compensator comprises: output beta of each motor after correcting and controlling the rotating speed differenceiWherein the correction control comprises a fixed gain K and a correction element F which are sequentially carried outg。
3) Calculating the synchronization error during the starting process and the steady-state operation load sudden loading, and verifying the effect of the scheme of the invention on improving the starting synchronization performance of the motor and simultaneously improving the synchronization performance during the steady-state load sudden loading;
and (4) analyzing by using a simulation result, and starting the rest motors except the jth motor in a no-load manner. FIG. 5 a-FIG. 15d is the tacho Ring controller input e during Start-Up for both the conventional method and the method of the present inventioniGraph e ofjAnd eiThe input of a jth motor and an ith motor (i is 1, 2, …, n; i is not equal to j) rotating speed ring controller respectively; Δ ωjAnd Δ ωiTracking errors of a jth motor and an ith motor are respectively obtained. Setting rated torque as TNThen the saturation value is 1.2TN. As can be seen from figures 5 a-5 d,
in the deviation coupling control structure, the jth motor satisfies ej>ΔωjDue to ej＝Δωj-βjOf so betaj<0, so that e results in the start-up processjIs larger, make ejOutput T after passing through the speed loop controllerujMuch greater than saturation, so electromagnetic torque output TejEqual to the saturation value of 1.2TN. Therefore, when the motor is started or the given rotating speed suddenly changes, the lead synchronous compensator basically does not work; for the ith motor, the starting initial time is still ei>ΔωiThe lead synchronous compensator remains inoperative; as the output speed of the motor increases, Δ ωiAccount for eiThe ratio of (A) is still large, only when betaiIncreasing to a certain value to satisfy ei<ΔωiThe lead synchronous compensator starts to compensate the rotating speed.
② in the fuzzy self-adjusting deviation coupling control structure, the jth motor satisfies ej<ΔωjDue to ej＝Δωj-βjOf so betaj>0, and from the ordinate, Δ ωjAccount for ejThe proportion of the differential coupling structure is reduced, and the lead synchronous compensator correspondingly compensates the rotating speed; when the motor is in no-load, the lead synchronous compensator also compensates the rotating speed.
In summary, during multi-motor start-up, the tracking error Δ ω of the method of the present invention is greater than that of the method shown in FIG. 1jAt ejThe ratio of the output beta of the synchronous compensator is reduced and advancedjAt ejThe proportion of the lead synchronous compensator is increased, and the supplement of the lead synchronous compensatorIncreased compensation, so TejThe time of saturation is shortened and the synchronization error is reduced.
In the starting process, the input of a rotating speed ring controller of a jth motor is set as e in consideration of the initial starting stage by neglecting the integral link of the rotating speed ring controller in the double closed rings of the motorsjExpressed as:
in the formula,. DELTA.omegaj *＝ω* ref-ωj，ω* refTo soften the speed of rotation, omegajThe output rotating speed of the jth motor is obtained; omegaiThe output rotating speed of the ith motor is; Δ ωj＝ωref-ωjThe tracking error of the jth motor is obtained; Δ ωji＝ωj-ωiThe synchronization error between the jth motor and the ith motor is 1, 2, …, n; i is not equal to j; contrast fuzzy self-adjusting deviation coupling control structure and e in deviation coupling control structurejThe synchronous error between each motor in the starting process can be calculated and compared.
The synchronous error of the jth motor and the ith motor in the steady-state operation of sudden load is
In the formula, TLiThe load torque of the ith motor; fgA correction link is performed; giIs the transfer function of the ith motor; ksThe gain is fixed.
4) And comparing the dynamic response speed characteristics of the motors, and verifying the effectiveness of the lead synchronous compensator in improving the dynamic response speed of the motors. The method comprises the following steps: considering the influence of the variation of the rotation speed of the jth motor on the ith motor, the output rotation speed omega of the jth motor is usedjAs input, the output rotation speed omega of the ith motoriAs a transfer function in the output of
When K is 2, the phase frequency characteristic and the amplitude frequency characteristic bode plot of the above formula are plotted, and the cutoff frequency is obtained from the plot, so that the dynamic response speed of each motor is improved.
For each motor, the rotation speed fluctuation of any other motor is time-varying interference, the adverse effect of the interference on the output of each motor driving subsystem can be eliminated in real time by introducing correction control, and the adjusting time is shortened. The synchronous compensator after introducing lead correction is shown in fig. 6. In the figure, K is a synchronous compensation coefficient; fgTo calibrate the controller.
FgThe output rotating speed of each motor is corrected and compensated according to the disturbance degree of each motor, the lead quantity required by the system is obtained by utilizing the phase lead characteristic of each motor, the cut-off frequency is increased, and the influence of disturbance is quickly reduced. And (3) analyzing the influence of the fluctuation of the rotating speed of the jth motor on the ith motor in the fuzzy self-adjusting deviation coupling control, wherein the input-output transfer function of the ith motor under the action of the jth motor is shown as a formula (9).
The transfer function corresponding to the offset coupling control is kf(s) g (s))/[ 1+ (1+ K (n-1)) f(s) g (s)), and bode graphs of the phase-frequency characteristic and the amplitude-frequency characteristic of the two structures when K is 2 are drawn, as shown in fig. 7a and 7 b. As can be seen from the figure, compared with the deviation coupling control structure, the fuzzy self-adjusting deviation coupling control structure has the advantages that the cut-off frequency is increased, the dynamic response speed of the system is improved, the phase margin is increased, and the stability of the system is improved. In addition, the lead synchronous compensator only has two inputs, so when a certain motor breaks down and exits operation or needs to be added with a new motor, the inputs of the original n synchronous compensator motors do not need to be adjusted.
The invention also analyzes the synchronization performance of the sudden load when the fuzzy self-adjusting deviation coupling control structure is in a steady state, and the output rotating speed of the jth motor is
The synchronous error between the jth motor and the ith motor can be deduced from the formula (10) as shown in the formula (8).
In the same way, the synchronous error of the jth motor and the ith motor in the deviation coupling control structure is (T)LiGi-TLjGj)/[1+(1+nK)FG]. From the above, η>1, thus, 1-Fg<0, the derived fuzzy self-adjusting deviation coupling control structure is more delta omega than the deviation coupling control structurejiTherefore, the synchronization error of the fuzzy self-adjusting deviation coupling control is reduced compared with the deviation coupling control.
In conclusion, the fuzzy self-adjusting deviation coupling control structure provided by the invention not only improves the synchronization performance of the multiple motors during starting and given sudden change of rotating speed, but also improves the synchronization performance of the multiple motors during sudden load under a steady state.
The present invention is not limited to the above-described embodiments. The foregoing description of the specific embodiments is intended to describe and illustrate the technical solutions of the present invention, and the above specific embodiments are merely illustrative and not restrictive. Those skilled in the art can make many changes and modifications to the invention without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (4)
1. A fuzzy self-adjusting deviation coupling multi-motor synchronous control method is characterized by comprising the following steps:
1) designing a fuzzy self-adjusting filtering controller which is combined by a fuzzy controller and a first-order inertia filter and is used for controlling a plurality of motors, taking given rotating speed and torque as the input of the fuzzy self-adjusting filtering controller, and taking softening rotating speed as the output of the fuzzy self-adjusting filtering controller, wherein the softening rotating speed refers to the given rotating speed actually received by each motor; the softening rotating speed is expressed as:
in the formula, ωrefSetting the rotating speed of each motor; omegamaxOutputting the maximum value of the rotating speed values for all the motors; alpha is a softening coefficient; is a steady state coefficient; omega* refSoftening the rotation speed; 0<α<1; the step 1) comprises the following steps:
the fuzzy controller smoothly adjusts the softening coefficient alpha according to different given rotating speeds and torques, outputs the softening coefficient alpha to the mode selector, and simultaneously inputs the steady-state coefficient to the mode selector; when each motor is in the stage of starting or giving sudden change of rotating speed, the fuzzy controller outputs the softening coefficient alpha to the first-order inertia filter, and the first-order inertia filter outputs the softening rotating speed omega according to the softening coefficient alpha* refThe rotation speed of each motor is used, so that each motor can run along the track of the softened rotation speed, and the synchronization error is reduced; when each motor gradually enters a stable state, the fuzzy controller outputs the stable state coefficient to the first-order inertia filter, and the first-order inertia filter outputs the softening rotating speed omega according to the stable state coefficient* refThe rotation speed of each motor is used for improving the dynamic response speed of the system;
2) an advance correction link is introduced to design an advance synchronous compensator, so that the response speed of each motor is accelerated while the starting synchronization performance is improved;
3) calculating the synchronous error of the starting process and the steady-state operation sudden load;
4) and comparing the dynamic response speed characteristics of the motors, and verifying the effectiveness of the lead synchronous compensator in improving the dynamic response speed of the motors.
2. The fuzzy self-adjusting deviation coupling multi-motor synchronous control method as claimed in claim 1, wherein the lead correction procedure in step 2) is represented as:
wherein T is a lead time constant; s is a Laplace transform factor; η is an attenuation factor, where η > 1;
the lead synchronous compensationThe device is as follows: output beta of each motor after correcting and controlling the rotating speed differenceiWherein the correction control comprises a fixed gain K and a correction element F which are sequentially carried outg。
3. The fuzzy self-adjusting deviation coupling multi-motor synchronous control method as claimed in claim 1, wherein the step 3) of calculating the synchronous error during the starting process and the steady-state operation sudden load is to neglect the integral link of the speed loop controller in the double closed loops of the motor in consideration of the initial starting period, and to set the input of the speed loop controller of the jth motor in the starting process as ejExpressed as:
in the formula,. DELTA.omegaj *＝ω* ref-ωj，ω* refTo soften the speed of rotation, omegajThe output rotating speed of the jth motor is obtained; omegaiThe output rotating speed of the ith motor is; Δ ωj＝ωref-ωjThe tracking error of the jth motor is obtained; Δ ωji＝ωj-ωiThe synchronization error between the jth motor and the ith motor is 1, 2, …, n; i is not equal to j;
the synchronous error of the jth motor and the ith motor in the steady-state operation of sudden load is
In the formula, TLiThe load torque of the ith motor; fgA correction link is performed; giIs the transfer function of the ith motor; k fixes the gain.
4. The fuzzy self-adjusting deviation coupling multi-motor synchronous control method according to claim 1, wherein the step 4) comprises: considering the influence of the fluctuation of the rotation speed of the jth motor on the ith motorOutput rotation speed omega of j motorsjAs input, the output rotation speed omega of the ith motoriAs a transfer function in the output of
In the formula, ωi(s) is the output rotating speed of the ith motor; omegaj(s) is the output rotating speed of the jth motor; fg(s) is a correction link; gi(s) is the transfer function of the ith motor; k, fixing the gain; f(s) is a rotating speed ring controller in a double closed loop;
when K is 2, a phase frequency characteristic and an amplitude frequency characteristic bode diagram of the above formula are drawn, and the cutoff frequency is obtained from the diagram and the dynamic response speed of each motor is improved.
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