基于超扭曲非奇异滑模的多电机协调控制

针对多电机控制系统存在响应性和同步性差的问题,以四轮独立驱动公铁两用车转向系统为被控对象,提出一种多永磁同步电机(permanent magnet synchronous motor, PMSM)协同控制策略。该控制策略采用偏差耦合的电同步控制方式,对多电机转角误差进行补偿,并提出一种新型非奇异快速终端滑模函数,同时结合超扭曲算法,设计超扭曲非奇异滑模控制器,实现多台永磁同步电机协同控制。基于MATLAB/Simulink平台搭建系统的仿真模型,并基于自主研发的纯电动公铁两用车进行实车试验。试验结果表明,该超扭曲非奇异快速终端滑模控制器可有效减小转向系统控制过程中所产生的跟踪误差、同步误差及系统抖振,缩短系统的响应时间,提高系统的控制精度,达到较为理想的控制效果。

Multi-motor Coordination Control Based on Super-twisted Nonsingular Sliding Mode

Aiming at the problem of poor responsiveness and synchronization of multi-motor control system, a multi-permanent magnet synchronous motor (PMSM) cooperative control strategy is proposed, taking the steering system of four-wheel independent drive road-rail vehicle as the controlled object. A new nonsingular rapid terminal sliding mode function combined with super-twisting algorithm is proposed. A super-twisting nonsingular sliding mode controller is designed to realize the coordinated control of multi-PMSM. The simulation model of the system is built on the platform of Matlab/Simulink, based on the self-developed electric road-rail vehicle, the vehicle experiment was carried out. The experimental results show that the super-twisting nonsingular rapid terminal sliding mode controller can effectively reduce the tracking error and synchronization error in the steering system, shorten the response time of the system, improve the control accuracy of the system, and achieve a better control effect.