中国电机工程学报2025，Vol.45Issue(7)：2821-2831,中插33,12.DOI:10.13334/j.0258-8013.pcsee.231862
基于一般性动力学建模的多电机复合同步控制
Multi-motor Composite Synchronous Control Based on Generalized Dynamic Modeling
摘要
Abstract
Multi-motor synchronization systems have been widely used in precision manufacturing.However,it is difficult to design a generalized synchronous control scheme because of the diversity of system structures and the differences in synchronization requirements.To overcome these problems,we establish a generalized dynamic model of plants in multi-motor synchronization systems,which could describe various synchronous control problems in a uniform expression of the mathematical model.Through the kinematics-based coordinate transformation,the complex coupling relationships in the dynamic model are revealed,as well as the formation mechanism of synchronous errors under the coupling effects.The motion decoupling method is proposed,which precisely compensates for differences in dynamic characteristics between the drive-axis and the sync-axis while decoupling the system.Based on the decoupled system,a feedback motion tracking controller is designed to improve the system's real-time synchronization performance.Simulation and experimental results illustrate that the composite synchronous control scheme based on the generalized dynamic modeling analysis,which has good interpretability,can significantly improve the multi-motor synchronization performance.关键词
多电机同步/动力学建模/耦合系统/同步控制/解耦控制Key words
multi-motor synchronization/dynamic modeling/coupling system/synchronous control/decoupling control分类
信息技术与安全科学引用本文复制引用
谢斌,雷力,王在相,李叶松..基于一般性动力学建模的多电机复合同步控制[J].中国电机工程学报,2025,45(7):2821-2831,中插33,12.基金项目
国家重点研发计划项目(2018ZX04035002).National Key R&D Program of China(2018ZX04035002). （2018ZX04035002）
