Abstract

Three-motor synchronous drive system is a multi-input multi-output, nonlinear and strongly coupled system, which is widely used in the driving field of high precision coordinated control such as paper-making, printing, electric locomotive, etc. A mathematical model of three-motor drive system is analyzed and a new control strategy is proposed for the decoupling control of speed and tension of three-motor drive system, in which the core is fuzzy first-order active disturbance rejection controller (ADRC). Various disturbances from the outside and the inner model are observed and compensated by an extended state observer. As the parameters of the active disturbance rejection controller are adjusted online by a fuzzy controller, the performance of the controller is thus effectively improved. The anti-interference performance, decoupling performance and tracking characteristics were tested based on laboratory-developed multi-motor experimental platform. The experimental results demonstrate that the proposed strategy can effectively decouple speed and tension. The system has fast dynamic response, low overshoot, high steady-state accuracy and good tracking performance.

中文翻译：

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基于模糊主动干扰抑制控制的新型三电机驱动系统

摘要

三电机同步驱动系统是一种多输入多输出，非线性且强耦合的系统，广泛应用于造纸，印刷，机车等高精度协调控制的驱动领域。数学模型分析了三电机驱动系统的结构，提出了一种三电机驱动系统的速度和张力解耦控制的新控制策略，其核心是模糊一阶主动抗扰控制器。外部和内部模型的各种干扰可以通过扩展状态观察器进行观察和补偿。由于通过模糊控制器在线调整了有源干扰抑制控制器的参数，因此可以有效地提高控制器的性能。抗干扰性能，基于实验室开发的多电机实验平台对去耦性能和跟踪特性进行了测试。实验结果表明，所提出的策略可以有效地使速度和张力分离。该系统具有快速的动态响应，较低的过冲，较高的稳态精度和良好的跟踪性能。