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Collaborative Control of Multimotor Systems for Fixed-Time Optimisation Based on Virtual Main-Axis Speed Compensation Structure
Complexity ( IF 2.3 ) Pub Date : 2021-07-28 , DOI: 10.1155/2021/4113022
Changfan Zhang 1 , Mingjie Xiao 1 , Jing He 1 , Zhitian Liu 2 , Xingxing Yang 1 , Qian Zhang 1 , Hongrun Chen 1
Affiliation  

In response to the high-speed and high-precision collaborative control requirements of the multimotor system for filling, a new type of virtual master-axis control structure is proposed and a multimotor fixed-time optimized collaborative control algorithm is designed. Firstly, coupling relationship between virtual and slave motors is effectively established by designing a velocity compensation module for the virtual motor. Secondly, the sliding mode observer (SMO) is used to reconstruct the composite disturbance composed of motor parameter perturbation and load disturbance. Finally, the variable gain terminal sliding mode controller (SMC) is designed to ensure that each slave motor can track the given value within a fixed time. The fast convergence of the system can be proved by the fixed-time convergence theorem and Lyapunov’s stability theorem. The simulation results show that, compared with the traditional virtual main-axis control strategy, the proposed method is more effective for the tracking control of each slave motor in the initial stage.

中文翻译:

基于虚拟主轴速度补偿结构的定时优化多电机系统协同控制

针对灌装多电机系统对高速、高精度协同控制的要求,提出了一种新型的虚拟主轴控制结构,并设计了多电机定时优化协同控制算法。首先,通过为虚拟电机设计速度补偿模块,有效建立虚拟电机和从电机之间的耦合关系。其次,利用滑模观测器(SMO)重构由电机参数扰动和负载扰动组成的复合扰动。最后,可变增益终端滑模控制器 (SMC) 旨在确保每个从电机可以在固定时间内跟踪给定值。系统的快速收敛可以由固定时间收敛定理和李雅普诺夫稳定性定理证明。
更新日期:2021-07-28
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