Synchronous Control of Double Permanent Magnet Synchronous Motor for Gantry Mobile Machine Tool
Aiming at the problem of speed synchronization accuracy of gantry dual-drive system,a speed tracking synchronous cou-pling control method was proposed.In order to realize accurate tracking of external loads,a sliding mode load observer based on Sigmoid function was constructed;a dual-motor mean-value synchronous difference controller combined with an integral sliding mode was de-signed,and a tracking error backstepping controller was combined to formulate a coupled control strategy of speed synchronization error and tracking error,and simulation tests were completed for two load cases.The simulation results show that compared with the PID con-trol,the coupled control strategy reduces the synchronization error by 52.4％and the response time by 75％;compared with the single backstepping control,the coupled control strategy reduces the synchronization error by 39.1％and the response time by 17％.
speed controlSigmoid functionload estimationbackstepping controlintegral sliding modecoupling control
万方数据
维普
