Dual-motor Master-slave Cross-coupling Synchronization Control of Winch Considering Parameters Variations

摘要

There are two motors used in the studied ocean winch, a reel motor and a lead screw motor. This paper focuses on the synchronization control of the two motors. Firstly, the mathematical model of the winch hydraulic transmission system is established, and the approximate relation between the model parameters and the cable storage state is deduced by using interpolation method. Then, combined with the variation rule of the model parameters, an adaptive IMC-PI(internal model control proportional-integral) regulator is designed to control the speed of the reel motor. The parameters of the adaptive IMC-PI regulator are adjusted according to the cable storage state on the reel. The characteristics of master-slave control and cross-coupling control are analyzed, and a new master-slave cross-coupling control method applicable for dual-motor synchronization control is proposed. The new method is realized on the basis of master-slave control. In the dual-motor master-slave cross-coupling synchronization control system, the synchronization angle error is fed back to the master motor control loop, so that the system has perfect synchronization control performance during start-up and running under disturbance. Finally, the validities of the proposed methods are verified by several simulation results.