基于模糊 PID 的多伺服电机交叉耦合同步控制

摘要

在多电机的运动控制中，确定合适的同步控制方法来提高多台伺服电机的同步控制精度一直是研究的重点。通过建立交流伺服系统模型，采用交叉耦合方式设计多电机同步控制器，并利用模糊P ID算法整定P ID参数，达到提高同步性的目地。在所建立的多电机控制模型的基础上，运用主从方式、常规PID交叉耦合方式以及模糊PID交叉耦合方式分别进行实验，分析了两电机的速度曲线与同步误差。结果表明，模糊PID交叉耦合方式具有更小的动态速降与恢复时间，具有更好的同步性能。%For the speed synchronization control of multi‐motors , to improve the synchronicity with proper control method has always been the key of research .By establishing the model of AC servo system ,and using the cross‐coupled control method to design multi‐axis synchronization controller and fuzzy‐PID algorithm to tune control parameters , the synchronicity can be improved .Master‐salve ,cross‐coupled with normal PID have been used for experiment based on the designed model .After analyzing the speed and synchronicity error of two axes ,the result shows that the cross‐coupled control method with fuzzy‐PID has smaller dynamic decrease and less recovery time ,w hich means better synchronicity .