多电机系统协同控制研究
发布时间：2018-09-09 12:52
【摘要】：多电机控制系统广泛应用于实际工业生产,如造纸系统、印刷系统等。多电机之间的协同控制性能对产品的质量有着较大的影响。随着人们对产品质量要求的提高,对多电机协同控制性能的要求也越来越高,多电机系统中存在各台电机的负载不均、电气参数的变化以及各类电磁干扰等问题,使多电机系统的协同控制性能受到影响,而传统的多电机控制方法很难满足高性能协同控制要求,因此深入开展多电机系统协同控制研究具有重要的理论意义和应用价值。本论文研究多电机控制系统协同控制问题,应用模糊控制理论、偏差耦合控制理论,提出一种基于最大误差的动态补偿控制策略,开展相关系统仿真研究,并给出控制算法的应用程序设计。具体的工作内容如下:通过阅读国内外相关文献,对国内外关于多电机控制系统协同控制研究现状进行了研讨和综述。阐述了多电机协同控制的概念、分类及评价指标。讨论了多电机系统协同控制的各种方式,并通过相关的仿真研究,对各种控制方式的特点进行了总结,为提出新的多电机协同控制策略奠定基础。在多电机协同控制系统中,每台单电机控制精度的保证是提高多电机系统协同控制精度的基础。然而电机运行过程中负载扰动和参数变化等问题都会对单电机的控制精度产生影响,为了提高系统中单电机的控制精度,本文提出对多电机系统中的单电机采用自适应控制策略。给出了自适应模糊PID控制器的设计,并在MATLAB/SIMULINK中进行仿真建模研究。仿真研究表明,与采用普通PID控制对照,采用自适应模糊PID控制可以使每台电机具有更好的系统性能。为了提高多电机系统的协同控制性能,在保证单台电机控制精度的基础上,本文提出了通过设置协同控制器、采用基于最大误差的动态补偿方法的多电机系统控制策略。协同控制器根据各电机实时误差,通过模糊推理,确定他们的误差等级,确定优先补偿的电机,实现对系统中误差等级最大的电机进行动态补偿。在本文中,构建了基于最大误差的动态补偿控制的基本框架,给出了协同控制器设计,并在MATLAB/SIMULINK中进行仿真建模研究。仿真研究表明,与无补偿控制、主从补偿控制多电机系统控制性能相比,采用本文所提出的动态补偿协同控制策略可以提高多电机系统的系统控制性能。为实现本文所提出的动态补偿协同控制策略在多电机控制系统中的应用,本文给出了该控制算法的应用程序设计。利用力控软件设计了多电机系统协同控制算法模块,将所提出的多电机协同控制策略嵌入到该模块中,并对该模块进行测试,验证所设计的多电机协同控制模块的可行性。该算法模块可应用于集中式控制、集散式控制、网络式控制等各种控制结构的多电机系统的监控程序中。
[Abstract]:Multi-motor control system is widely used in industrial production, such as paper making system, printing system and so on. The performance of collaborative control between multi-motors has a great influence on the quality of products. With the improvement of product quality, the requirement of multi-motor cooperative control is becoming higher and higher. There are many problems in multi-motor system, such as the uneven load of each motor, the change of electrical parameters and various kinds of electromagnetic interference. The cooperative control performance of multi-motor system is affected, but the traditional multi-motor control method is very difficult to meet the requirements of high-performance collaborative control. Therefore, it is of great theoretical significance and practical value to carry out in-depth research on cooperative control of multi-motor system. In this paper, the cooperative control problem of multi-motor control system is studied. By applying fuzzy control theory and deviation coupling control theory, a dynamic compensation control strategy based on maximum error is proposed, and related system simulation research is carried out. The application program design of the control algorithm is also given. The main contents of this paper are as follows: through reading the relevant literature at home and abroad, this paper discusses and summarizes the current situation of cooperative control of multi-motor control systems at home and abroad. The concept, classification and evaluation index of multi-motor cooperative control are described. This paper discusses various modes of cooperative control of multi-motor system, and summarizes the characteristics of various control methods through the relevant simulation research, which lays a foundation for putting forward new cooperative control strategies for multi-motor systems. In the multi-motor cooperative control system, the guarantee of the control precision of each single motor is the basis to improve the control accuracy of the multi-motor system. However, in order to improve the control accuracy of single motor, the load disturbance and parameter change will affect the control accuracy of single motor. This paper presents an adaptive control strategy for single motor in multi-motor system. The design of adaptive fuzzy PID controller is presented, and the simulation model in MATLAB/SIMULINK is studied. The simulation results show that compared with conventional PID control, adaptive fuzzy PID control can make each motor have better system performance. In order to improve the cooperative control performance of multi-motor system, the control strategy of multi-motor system based on dynamic compensation method based on maximum error is put forward in this paper, on the basis of ensuring the control precision of single motor, this paper puts forward the control strategy of multi-motor system by setting cooperative controller and adopting the method of dynamic compensation based on maximum error. According to the real-time error of each motor, the cooperative controller determines their error grade by fuzzy reasoning, determines the motor with priority compensation, and realizes the dynamic compensation of the motor with the largest error level in the system. In this paper, the basic framework of dynamic compensation control based on maximum error is constructed, the design of cooperative controller is given, and the simulation model is studied in MATLAB/SIMULINK. The simulation results show that compared with the control performance of multi-motor system without compensation and master-slave compensation, the dynamic compensation cooperative control strategy proposed in this paper can improve the control performance of multi-motor system. In order to realize the application of the dynamic compensation cooperative control strategy in the multi-motor control system, the application program design of the control algorithm is presented in this paper. The multi-motor cooperative control algorithm module is designed by using the force control software. The proposed multi-motor cooperative control strategy is embedded in the module, and the module is tested to verify the feasibility of the designed multi-motor collaborative control module. The algorithm module can be applied to the monitoring program of multi-motor system with centralized control, distributed control and network control.
【学位授予单位】：济南大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TM921.5
本文编号：2232425
[Abstract]:Multi-motor control system is widely used in industrial production, such as paper making system, printing system and so on. The performance of collaborative control between multi-motors has a great influence on the quality of products. With the improvement of product quality, the requirement of multi-motor cooperative control is becoming higher and higher. There are many problems in multi-motor system, such as the uneven load of each motor, the change of electrical parameters and various kinds of electromagnetic interference. The cooperative control performance of multi-motor system is affected, but the traditional multi-motor control method is very difficult to meet the requirements of high-performance collaborative control. Therefore, it is of great theoretical significance and practical value to carry out in-depth research on cooperative control of multi-motor system. In this paper, the cooperative control problem of multi-motor control system is studied. By applying fuzzy control theory and deviation coupling control theory, a dynamic compensation control strategy based on maximum error is proposed, and related system simulation research is carried out. The application program design of the control algorithm is also given. The main contents of this paper are as follows: through reading the relevant literature at home and abroad, this paper discusses and summarizes the current situation of cooperative control of multi-motor control systems at home and abroad. The concept, classification and evaluation index of multi-motor cooperative control are described. This paper discusses various modes of cooperative control of multi-motor system, and summarizes the characteristics of various control methods through the relevant simulation research, which lays a foundation for putting forward new cooperative control strategies for multi-motor systems. In the multi-motor cooperative control system, the guarantee of the control precision of each single motor is the basis to improve the control accuracy of the multi-motor system. However, in order to improve the control accuracy of single motor, the load disturbance and parameter change will affect the control accuracy of single motor. This paper presents an adaptive control strategy for single motor in multi-motor system. The design of adaptive fuzzy PID controller is presented, and the simulation model in MATLAB/SIMULINK is studied. The simulation results show that compared with conventional PID control, adaptive fuzzy PID control can make each motor have better system performance. In order to improve the cooperative control performance of multi-motor system, the control strategy of multi-motor system based on dynamic compensation method based on maximum error is put forward in this paper, on the basis of ensuring the control precision of single motor, this paper puts forward the control strategy of multi-motor system by setting cooperative controller and adopting the method of dynamic compensation based on maximum error. According to the real-time error of each motor, the cooperative controller determines their error grade by fuzzy reasoning, determines the motor with priority compensation, and realizes the dynamic compensation of the motor with the largest error level in the system. In this paper, the basic framework of dynamic compensation control based on maximum error is constructed, the design of cooperative controller is given, and the simulation model is studied in MATLAB/SIMULINK. The simulation results show that compared with the control performance of multi-motor system without compensation and master-slave compensation, the dynamic compensation cooperative control strategy proposed in this paper can improve the control performance of multi-motor system. In order to realize the application of the dynamic compensation cooperative control strategy in the multi-motor control system, the application program design of the control algorithm is presented in this paper. The multi-motor cooperative control algorithm module is designed by using the force control software. The proposed multi-motor cooperative control strategy is embedded in the module, and the module is tested to verify the feasibility of the designed multi-motor collaborative control module. The algorithm module can be applied to the monitoring program of multi-motor system with centralized control, distributed control and network control.
【学位授予单位】：济南大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TM921.5
【参考文献】
相关期刊论文 前1条
1 兰天;刘伊威;陈养彬;金明河;姜力;樊绍巍;刘宏;;机器人灵巧手基关节交叉耦合同步控制[J];机器人;2010年02期
，本文编号：2232425
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