变摩擦负载下双电机同步控制系统设计与实验

中国机械工程 ›› 2011, Vol. 22 ›› Issue (24): 2908-2914.

变摩擦负载下双电机同步控制系统设计与实验

许宏;李乐宝;张怡;王凌

中国计量学院,杭州,310018

出版日期:2011-12-26 发布日期:2011-12-29
基金资助:
浙江省自然科学基金资助重点项目(Z106853)；浙江省自然科学基金资助项目(Y1100376)；浙江省教育厅资助项目(Y201019042)
Key Program of Zhejiang Provincial Natural Science Foundation of China（No. Z106853）;
Zhejiang Provincial Natural Science Foundation of China（No. Y1100376）;
Zhejiang Provincial Program of Ministry of Education of China（No. Y201019042）

Design and Experiment of Double-motor Synchronous Control System with Variable Friction Load

Xu Hong;Li Lebao;Zhang Yi;Wang Ling

China Jiliang University,Hangzhou,310018

Online:2011-12-26 Published:2011-12-29
Supported by:

Key Program of Zhejiang Provincial Natural Science Foundation of China（No. Z106853）;
Zhejiang Provincial Natural Science Foundation of China（No. Y1100376）;
Zhejiang Provincial Program of Ministry of Education of China（No. Y201019042）

摘要/Abstract

摘要：

针对双电机同步控制系统实际运行中存在摩擦负载作用的问题,建立了双电机同步控制系统的数学模型和Stribeck摩擦模型。在分析同步控制的各种控制方式和控制算法优缺点的基础上,利用模糊PID控制的优点,提出在偏差耦合控制方式下采用模糊PID控制算法对偏差进行调节的双电机同步控制方案,并与采用常规PID算法的控制方案进行比较。仿真和实验结果表明,采用模糊PID控制算法的偏差耦合同步控制系统具有较好的抗干扰性和同步控制精度,优于常规PID控制系统的性能。

关键词:

同步控制, 偏差耦合控制, 模糊PID控制器, 摩擦模型

Abstract:

For the influences of friction load for a double-motor synchronous control system in actual operation,this paper built a math model of the double-motor's synchronous control system and a Stribeck friction model firstly.Then based on the analyses of the advantages and shortcomings of all kind of control methods and control algorithm,a scheme of synchronous control for double-motor was presented,which used fuzzy PID to control the double-motor's relative by the method of relative

coupling control,and compared it with normal PID's.

The simulation and experimental results show that the synchronous control system of relative coupling with fuzzy PID is better than the normal

PID's,which has better anti-interference and synchronization control precision.

Key words: synchronous control, relative coupling control, fuzzy PID controller, friction model

中图分类号:

TM921.5

许宏, 李乐宝, 张怡, 王凌.

变摩擦负载下双电机同步控制系统设计与实验

[J]. 中国机械工程, 2011, 22(24): 2908-2914.

HU Hong, LI Le-Bao, ZHANG Yi, WANG Ling.

Design and Experiment of Double-motor Synchronous Control System with Variable Friction Load

[J]. China Mechanical Engineering, 2011, 22(24): 2908-2914.

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