多電機系統(tǒng)協(xié)同控制研究
發(fā)布時間：2018-09-09 12:52
【摘要】：多電機控制系統(tǒng)廣泛應(yīng)用于實際工業(yè)生產(chǎn),如造紙系統(tǒng)、印刷系統(tǒng)等。多電機之間的協(xié)同控制性能對產(chǎn)品的質(zhì)量有著較大的影響。隨著人們對產(chǎn)品質(zhì)量要求的提高,對多電機協(xié)同控制性能的要求也越來越高,多電機系統(tǒng)中存在各臺電機的負(fù)載不均、電氣參數(shù)的變化以及各類電磁干擾等問題,使多電機系統(tǒng)的協(xié)同控制性能受到影響,而傳統(tǒng)的多電機控制方法很難滿足高性能協(xié)同控制要求,因此深入開展多電機系統(tǒng)協(xié)同控制研究具有重要的理論意義和應(yīng)用價值。本論文研究多電機控制系統(tǒng)協(xié)同控制問題,應(yīng)用模糊控制理論、偏差耦合控制理論,提出一種基于最大誤差的動態(tài)補償控制策略,開展相關(guān)系統(tǒng)仿真研究,并給出控制算法的應(yīng)用程序設(shè)計。具體的工作內(nèi)容如下:通過閱讀國內(nèi)外相關(guān)文獻(xiàn),對國內(nèi)外關(guān)于多電機控制系統(tǒng)協(xié)同控制研究現(xiàn)狀進(jìn)行了研討和綜述。闡述了多電機協(xié)同控制的概念、分類及評價指標(biāo)。討論了多電機系統(tǒng)協(xié)同控制的各種方式,并通過相關(guān)的仿真研究,對各種控制方式的特點進(jìn)行了總結(jié),為提出新的多電機協(xié)同控制策略奠定基礎(chǔ)。在多電機協(xié)同控制系統(tǒng)中,每臺單電機控制精度的保證是提高多電機系統(tǒng)協(xié)同控制精度的基礎(chǔ)。然而電機運行過程中負(fù)載擾動和參數(shù)變化等問題都會對單電機的控制精度產(chǎn)生影響,為了提高系統(tǒng)中單電機的控制精度,本文提出對多電機系統(tǒng)中的單電機采用自適應(yīng)控制策略。給出了自適應(yīng)模糊PID控制器的設(shè)計,并在MATLAB/SIMULINK中進(jìn)行仿真建模研究。仿真研究表明,與采用普通PID控制對照,采用自適應(yīng)模糊PID控制可以使每臺電機具有更好的系統(tǒng)性能。為了提高多電機系統(tǒng)的協(xié)同控制性能,在保證單臺電機控制精度的基礎(chǔ)上,本文提出了通過設(shè)置協(xié)同控制器、采用基于最大誤差的動態(tài)補償方法的多電機系統(tǒng)控制策略。協(xié)同控制器根據(jù)各電機實時誤差,通過模糊推理,確定他們的誤差等級,確定優(yōu)先補償?shù)碾姍C,實現(xiàn)對系統(tǒng)中誤差等級最大的電機進(jìn)行動態(tài)補償。在本文中,構(gòu)建了基于最大誤差的動態(tài)補償控制的基本框架,給出了協(xié)同控制器設(shè)計,并在MATLAB/SIMULINK中進(jìn)行仿真建模研究。仿真研究表明,與無補償控制、主從補償控制多電機系統(tǒng)控制性能相比,采用本文所提出的動態(tài)補償協(xié)同控制策略可以提高多電機系統(tǒng)的系統(tǒng)控制性能。為實現(xiàn)本文所提出的動態(tài)補償協(xié)同控制策略在多電機控制系統(tǒng)中的應(yīng)用,本文給出了該控制算法的應(yīng)用程序設(shè)計。利用力控軟件設(shè)計了多電機系統(tǒng)協(xié)同控制算法模塊,將所提出的多電機協(xié)同控制策略嵌入到該模塊中,并對該模塊進(jìn)行測試,驗證所設(shè)計的多電機協(xié)同控制模塊的可行性。該算法模塊可應(yīng)用于集中式控制、集散式控制、網(wǎng)絡(luò)式控制等各種控制結(jié)構(gòu)的多電機系統(tǒng)的監(jiān)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.
【學(xué)位授予單位】：濟南大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TM921.5
本文編號：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.
【學(xué)位授予單位】：濟南大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TM921.5
【參考文獻(xiàn)】
相關(guān)期刊論文 前1條
1 蘭天;劉伊威;陳養(yǎng)彬;金明河;姜力;樊紹巍;劉宏;;機器人靈巧手基關(guān)節(jié)交叉耦合同步控制[J];機器人;2010年02期
，本文編號：2232425
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