Research On Total-Amount Coordinated Control And Its Application In Multi-Motor Traction System

Multi-motor system is widely used in locomotive transmission,printing,textile and other fields.To ensure the synchronization and coordination of each motor unit is the basis for achieving stable operation of the system,especially for the traction locomotive powered by multiple traction motors,the total traction force provided by the multiple traction motors is basically constant to ensure the stable operation of the locomotive.Therefore,it is necessary to study the coordinated control method for the total amount of traction.However,the existing coordinated control strategy mainly focuses on the consensus of the status of speed,location,etc.,and does not consider the issue of total coordination consensus.For this reason,this article focuses on total coordinated control and its application in multi-motor traction systems.The specific research content is as follows:(1)By extending the consensus of individual states to the total coordination of States,a total amount of collaborative control method that converges at a given time is proposed for the first time.This method selects a terminal sliding mode surface whose convergence rate does not depend on the initial state and parameters,and designs a continuous and discontinuous finite-time total-amount coordinated control protocol.Using Lyapunov stability theory,it proves that the designed control protocol can make the total coordinated tracking error converge to zero within the expected time.Numerical simulation results show that the total collaborative tracking error converges to zero at 2s.(2)For the total coordinated control protocol,all state information needs to be obtained,and only part of the state can be measured in practical situations.This paper proposed an total-amount coordinated control protocol by combining sliding mode observer and and adding power integral technique.This method uses sliding mode disturbance observer to estimate unknown uncertainties and unmeasurable states,then uses adding power integral method to derive an total-amount coordinated control protocol based on output feedback.Finally,a numerical simulation is provided to evaluate the cooperative tracking performance of the proposed control protocol.Simulation results show that the integrated observer with adding power integration technique has better cooperative tracking performance.(3)Taking an electric locomotive pulled by multiple motors as an example,for the problem that the traction performance of a certain(partial)motor idling/sliding fault in a locomotive traction system is degraded,a total coordinated tracking control method for total tractive effort is proposed.This method constructs a coordinated tracking control framework for total tractive effort,and then uses a disturbance observer to estimate the uncertain disturbances of each traction motor to actively improve the coordinated tracking performance of the traction system,and designs a total coordinated consensus control protocol based on an observer.In order to coordinate the power redundancy of each intelligent traction motor,ensure that the total traction force follows the reference instruction.The simulation results show that the proposed total cooperative control algorithm can effectively and effectively reduce the overall traction performance of the locomotive.