一种模糊补偿相邻耦合多轴同步控制结构研究

何伟成; 王文格; 胡旭

doi:10.13433/j.cnki.1003-8728.2015.1113

一种模糊补偿相邻耦合多轴同步控制结构研究

doi: 10.13433/j.cnki.1003-8728.2015.1113

1.
湖南大学机械与运载工程学院, 长沙 410082

基金项目:

国家自然科学基金项目(51075137)资助

详细信息

作者简介:
何伟成(1989-),硕士研究生,研究方向为多电机运动控制、机电一体化,ritual.he@gmail.com

通讯作者:
王文格,教授,博士,wangwg@hnu.edu.cn

计量
- 文章访问数: 145
- HTML全文浏览量: 24
- PDF下载量: 5
- 被引次数: 0
出版历程
- 收稿日期: 2014-02-25
- 刊出日期: 2015-11-05

An Adjacent Coupling Multi-axis Synchronization Control Strategy with Fuzzy Compensation

1.
College of Mechanical and Vehicle Engineering, Hunan University, Changsha 410082, China

摘要

摘要: 针对某轻工机械多轴转角位置同步控制精度问题,对多轴同步控制结构和控制策略进行了研究。在分析传统同步控制策略的基础上,针对研究对象转角位置同步误差要求,同时为了解决系统轴数较多时造成控制器在线计算量大的问题,改进了传统的交叉耦合同步结构,提出基于一种模糊补偿相邻耦合多轴同步控制结构。在相邻偏差补偿模块采用模糊PI(比例积分)控制算法,使得系统在负载扰动的情况下仍能保持良好的同步稳定性。仿真和实验对比结果表明,该同步策略控制精度较高、收敛速度快、满足稳定性要求,很好地实现了研究对象的同步控制要求。
- 多轴同步 /
- 同步误差 /
- 相邻耦合 /
- 模糊补偿
Abstract: We studied the control structure and strategy of the multi-axis synchronization control system used in light industrial machinery to improve its control accuracy. We analyzed some traditional synchronization control strategies and improved the traditional cross-coupling control structure in order to reduce its synchronous error in position and the controller's huge amount of online calculation caused by too many motors. Then we proposed an adjacent coupling multi-axis synchronization control strategy with fuzzy compensation. The fuzzy PI (Proportional-Integral ) control algorithm was used in the adjacent deviation compensation block, which can maintain good synchronized stability behavior of the multi-axis synchronization control system when it has load disturbance. The computer simulation and experiment results show that this synchronization control strategy has high control accuracy, quick convergence rate, good stability behavior and can quickly satisfy the requirements for synchronization control.
- algorithms /
- closed loop control systems /
- computer simulation /
- control

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参考文献(15)

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