基于并行双模态模糊-PI补偿的多电机SMC控制

Multi-Motor Synchronous Control Based on Parallel Dual-Mode Fuzzy-PI Compensation

中文关键词:  偏差耦合结构  模糊-PI补偿  并行双模态模糊-PI补偿  跟踪控制器

英文关键词:deviation coupling structure  fuzzy-PI compensation  parallel dual-mode fuzzy-PI compensation  tracking controller

中文摘要:

      针对现有模糊-PI同步补偿器设计复杂且同步精度低等不足，提出将并行双模态模糊-PI控制算法应用到偏差耦合结构的新同步补偿策略。为了进一步提高电机间的同步与跟踪性能，采用了新型变指数趋近律的滑模控制器，在提高跟踪指令性能的同时，也提高了同步性能。仿真实验表明，与传统模糊-PI同步补偿器相比，双模模糊-PI补偿器在提高同步精度的同时也降低了设计难度，并且与改进的跟踪控制器相结合后系统的同步精度与跟踪性能都有了很大提高，验证了控制策略的有效性与可行性。

英文摘要:

      In order to overcome the shortcomings of complicated design and low synchronization precision of the existing fuzzy-PI synchronous compensators,a new strategy of applying the parallel dual-mode fuzzy-PI control algorithm to the deviation coupling structure is proposed.In order to further improve the synchronization and tracking performance between motors and change the limitations of the synchronization strategy,a new sliding mode controller based on the variable index exponential law was applied.While improving the tracking command performance,the synchronization performance was also improved.Simulation results show that compared with the traditional fuzzy-PI synchronous compensator,the proposed dual-mode fuzzy-PI compensator improves the synchronization accuracy and reduces the design difficulty.Combined with the improved tracking controller,the synchronization accuracy and tracking performance of the system have been greatly improved,which verifies the effectiveness and feasibility of multi-motor control strategy.