论文部分内容阅读
以实现舞台升降台协调同步运行为目的,提出一种基于滑模与PID组合的多电机同步控制方案。即将滑模与PID结合取代常规PI速度跟踪控制器,以滑模控制的强鲁棒性抑制系统参数摄动及外界干扰等不确定因素引起的不同步现象;同时结合位置偏差耦合算法设计同步补偿器,实现了舞台升降台的高精度定位要求,改善了多个升降台的同步性能。最后分别对该控制策略与常规PID控制进行了仿真研究,结果表明采用滑模PID控制较常规PID控制变现出更强的鲁棒性、跟踪精度及面对外界干扰的适应能力。
In order to realize the coordinated operation of stage lifts, a multi-motor synchronous control scheme based on sliding mode and PID combination is proposed. The sliding mode and PID are combined to replace the conventional PI speed tracking controller to control the strong robustness of the sliding mode control system parameter perturbation and external disturbances and other uncertainties caused by the phenomenon of non-synchronization; combined with the position deviation coupling algorithm designed synchronous compensation It realizes the high-precision positioning requirements of stage lifts and improves the synchronization performance of multiple lifts. Finally, this control strategy and the conventional PID control are simulated. The results show that using sliding mode PID control to achieve more robustness, tracking accuracy and ability to adapt to outside interference than conventional PID control.