基于改进型偏差耦合结构的多电机同步控制

针对现有的多电机同步控制方案难以满足高精度控制的要求和不能实现比例同步控制的局限性，提出一种带PI补偿控制的改进型偏差耦合控制结构，可适用于多电机完全同步和比例同步控制.针对永磁同步电动机非线性和强耦合特性，设计了自适应模糊滑模变结构控制器来实现永磁同步电动机的跟踪控制.建立了4台永磁同步电动机的同步控制仿真模型，仿真实验表明，所提出的多电机同步控制结构相对于带固定增益补偿的控制结构具有更高的同步控制精度.与PID和常规滑模控制算法相比，自适应模糊滑模控制策略具有更高的同步稳定性和更强的鲁棒性.

Synchronized Control of Multi-motor Based on the Improved Relative Coupling Control

To solve the problem that the existed scheme of synchronized control of multi-motor is difficult to meet the requirements of high precise synchronized control and the limitation that it can not achieve proportional synchronized control, a belt PI compensative control of the improved Relative Coupling Control structure was proposed, which can apply to completive synchronized control and proportional synchronized control for multi-motor. As to the problem that the Permanent Magnet Synchronous Motor (PMSM) is a multivariable nonlinear system with strong coupling, an adaptive fuzzy sliding mode controller was designed to control the PMSM. The synchronized control simulation mode of four PMSM was set up. Compared with fixed gain compensative control structure, simulation results illustrate that this new structure has higher synchronized control accuracy. Compared with PID and conventional sliding mode control strategy, this fuzzy sliding mode control strategy has a better synchronized stability behavior and stronger robustness.