Multi-Motor Speed Synchronous Control Based onImproved Relative Coupling Structure
GengQiang1, Wang Shaowei1, Zhou Zhanqing1, Shi Tingna2, Xia Changliang1
1. Tianjin Engineering Center of Electric Machine System Design and Control Tianjin Polytechnic University Tianjin 300387 China; 2. School of Electrical and Information Engineering Tianjin University Tianjin 300072 China
Abstract：In the traditional relative coupling multi-motor synchronous control system, both the tracking performance and synchronization performance could not be considered simultaneously because of the intercoupling of these two performances. Moreover, the tracking error compensation of the speed control loop is large and reference torques of all motors are equal under the influence of output amplitude limitation. Thus, the acceleration of each motor will be unequal if loads are different from each other, which further lead to the increase of synchronization error. To solve the above problems, an improved relative coupling control system is designed in this paper based on the principle of linear system correction, and then the tracking performance and synchronization performance are decoupled. In addition, an output selection function is designed for the speed control loop to reduce the amount of compensation within the output amplitude limitation, which enhances the effect of synchronization error compensation and decreases the synchronization error of the system during the starting period. Finally, the simulations and experiments are carried out on the three permanent magnet motors system. The results verify the effectiveness and feasibility of the proposed improved structure.
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2019, Vol. 34 
