Sliding Mode Coordinated Control And Experimental System For Dual Permanent Magnet Synchronous Motor

In the field of large inertia load motion control,in order to obtain large output torque ratio and reduce power consumption,two or more motors are usually used to drive synchronously,such as belt conveyors,radar antennas and gantry cranes.Coordinated and stable operation of multi-motor systems is a prerequisite to ensure production efficiency and production safety.Permanent magnet synchronous motors(PMSMs)have been widely used in industrial production and daily life because of their obvious advantages of high-power density,low vibration and noise,wide range of weak magnetic field and high reliability.Therefore,this thesis focuses on the synchronous coordination control of dual permanent magnet synchronous motor system under complex uncertain conditions.The main research work is as follows:1.The mathematical model of dual permanent magnet synchronous motor system with uncertainty and unmatched disturbance is established.Firstly,according to the vector control principle,a single motor mathematical model with system uncertainty is constructed.Then,hooke’s law is used to analyze the mechanical relationship between the two motors,and the mathematical model of the dual motor system with uncertainty and unmatched disturbance is established.Finally,Combined with the established mathematical model,the dual motor parallel control mode is simulated to verify the effectiveness of the established dual motor model,and the shortcomings of the control mode are analyzed through simulation.2.A sliding mode coordinated control method for dual motor systems with uncertainties and unmatched disturbances is proposed.Firstly,a new control structure is established based on cross coupling control and PI control.Then,in order to overcome the system uncertainty and suppress the system unmatched disturbance,an integral sliding mode coordinated control method based on disturbance observer is proposed,and the controller gains are designed by H_∞control technology.Finally,the simulation shows that the sliding mode coordinated control can effectively improve the synchronous control performance of the dual-motor system and robustness.3.The semi-physical simulation experiment of dual motors based on dSPACE is carried out.First of all,a dual motor experiment platform is designed by selecting appropriate experimental devices based on the software and hardware environment of d SPACE.Then,a single motor vector control system is tested to show the consistency between offline simulation and semi-physical simulation.Finally,experiments on dual motors show that the proposed sliding mode coordinated control method is superior to cross-coupling control,and can overcome the uncertainty,and suppress the unmatched disturbances.