基于负载惯量匹配的双电机同步控制方法

在交流伺服系统运动控制领域,针对双电机同步精确控制时由于两轴负载惯量相差较大、额定运行速度快、到位精度要求高等控制难点,提出了简单且有效的同步控制方法,并在试验中进行了验证。该方法包括对同步控制方式的设计和误差补偿算法2个部分。首先,设计使用基于虚拟主轴的主从控制方式,可实现惯量匹配的同步指令输出；在此基础上,从负载特性入手,提出了基于加权耦合的误差补偿方法,能实现快速稳定的同步误差补偿。仿真与试验结果表明,该方法能够满足伺服运动系统的定位精度和同步控制精度要求,同时在一定程度上提升了系统的平稳性和补偿响应速度,工程实现效果较好。

DualMotor Synchronous Control Method Based on Load Inertia Matching

In the field of AC servo motion control, serveral control difficulties were caused by the large difference of the two axis load inertia, and the demand of the rated running speed and the high positioning accuracy. To solve these problems, a simple and effective synchronous control method was proposed, and it was verified in the experiment. The method included two parts: the design of the synchronous control and the error compensation algorithm. Firstly, a masterslave control method based on virtual spindle was designed to realize synchronous instruction output with inertia matching. Considering the load characteristics, an error compensation method based on weighted coupling was proposed, which could realize fast and stable synchronous error compensation. Simulation and experimental results show that the method can meet the requirements of positioning and synchronous control accuracy of the servo motion system, meanwhile, the stability and compensation response speed of the system are improved to a certain extent, and the method works well in engineering applications.