中国电机工程学报2025，Vol.45Issue(11)：4479-4492,14.DOI:10.13334/j.0258-8013.pcsee.240978
伺服系统多轴协同控制技术综述
Review on Cooperative Control Technologies of Multi-axis Servo Systems
摘要
Abstract
This paper breaks through the traditional way of classifying cooperative control methods with the coupled and uncoupled categories,and concludes the implementation of the multi-axis servo system from multiple perspectives for the first time,conducting a multi-dimensional review on aspects of hardware architectures,converter topologies,real-time control technologies,cooperative control methods and strategies.Besides,five kinds of classification methods of system hardware architecture are proposed innovatively.Also,comprehensive consideration and evaluation are given to each converter topology in terms of economy,fault tolerance,control complexity.Moreover,focusing on chip architectures and network buses,the paper points out major obstacles that hinder networked multi-axis systems from popularizing.Furthermore,coupling control is divided into parallel class and master-slave class are for the first time.Additionally,from principles and structures,the multi-axis cooperative control modes,strategies and their improvement methods are deeply summarized.Eventually,from the perspective of multi-disciplines,the shortcomings and difficulties in multi-axis cooperative control technologies are discussed,with future development directions forecasted.关键词
多电机控制/系统架构/变流器拓扑/实时控制技术/协同控制方式/协同控制策略Key words
multi-motor control/system architecture/converter topology/real-time control technology/cooperative control mode/cooperative control strategy分类
信息技术与安全科学引用本文复制引用
史婷娜,王敢,曹彦飞,王志强..伺服系统多轴协同控制技术综述[J].中国电机工程学报,2025,45(11):4479-4492,14.基金项目
国家自然科学基金重点项目(52237003) （52237003）
国家自然科学基金重大项目(51991384).Project Supported by National Natural Science Foundation of China(Key Program)(52237003) （51991384）
National Natural Science Foundation of China(Major Program)(51991384). （Major Program）
