MIAO Zhongcui1,2, HE Yangyang1, LI Haiyuan1, WANG Yunkun1
（1. School of Automation and Electrical Engineering， Lanzhou Jiaotong University， Lanzhou 730070， China; 2. Key Laboratory of Opto-Technology and Intelligent Control of Ministry Education， Lanzhou Jiaotong University， Lanzhou 730070， China）
Abstract： In a dual-motor control system, load disturbance and parameter vatiation as well as acceleration/deceleration operation will lead to instability of the system, which makes synchronization error increase. To solve the above problems, a speed synchronization control system based on the unified predictive model of a dual-motor is designed. First of all, a unified dual-motor model is established on the basis of the traditional dual-motor cross-coupled control structure, and a piecewise value function is constructed to adjust tracking error and synchronization error more accurately. Secondly, to improve the dynamic performance and robustness of the system, a proportional-integral+fractional order sliding mode control (PI+FOSMC) compound synchronization controller is designed. Finally, the simulation is carried out on two permanent magnet synchronous motors (PMSMs). The result shows that the dual-motor unified prediction system has strong dynamic performance and robustness, and can improve synchronization accuracy.
Key words： permanent magnet synchronous motor (PMSM)； dual-motor control; cross-coupled control; unified prediction model; speed synchronization controller; synchronization accuracy
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双PMSM统一模型预测系统的转速同步控制
缪仲翠1,2， 何阳阳1， 李海源1， 王运坤1
（1. 兰州交通大学 自动化与电机工程学院， 甘肃 兰州 730070； 2. 兰州交通大学 光电技术与智能控制教育部重点实验室， 甘肃 兰州 730070）
摘要：双电机控制系统中， 负载扰动、 参数变化以及加减速运行等因素都会导致系统不稳定， 同步误差增大。 针对以上问题， 设计了一种基于双电机统一预测模型的转速同步控制系统。 首先， 在传统的双电机交叉耦合控制结构的基础上， 建立双电机统一模型， 并构造分段价值函数以更精确地调节跟踪误差和同步误差。 其次， 为提高系统的动态性能和鲁棒性， 设计了比例积分和分数阶滑模复合同步控制器(Proportional integral+fractional order sliding mode control, PI+FOSMC)。 最后， 在两台永磁同步电机(Permanent magnet synchronous motor, PMSM)上进行了仿真。 结果表明， 双电机统一模型预测系统具有较强的动态性能和鲁棒性， 可提高系统同步精度。
关键词：永磁同步电机； 双电机控制； 交叉耦合控制； 统一预测模型； 转速同步控制器； 同步精度
引用格式：MIAO Zhongcui, HE Yangyang, LI Haiyuan, et al． Dual-PMSM speed synchronization control based on unified prediction model． Journal of Measurement Science and Instrumentation， 2023， 14（3）： 315-323. DOI： 10．3969／j．issn．1674-8042．2023．03．008
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