A New Three-Motor Drive System Using Fuzzy Active Disturbance Rejection Control

摘要

Three-motor synchronous drive system is a multi-input multi-output, nonlinear and strongly coupled system, which is widely used in the driving field of high precision coordinated control such as paper-making, printing, electric locomotive, etc. A mathematical model of three-motor drive system is analyzed and a new control strategy is proposed for the decoupling control of speed and tension of three-motor drive system, in which the core is fuzzy first-order active disturbance rejection controller (ADRC). Various disturbances from the outside and the inner model are observed and compensated by an extended state observer. As the parameters of the active disturbance rejection controller are adjusted online by a fuzzy controller, the performance of the controller is thus effectively improved. The anti-interference performance, decoupling performance and tracking characteristics were tested based on laboratory-developed multi-motor experimental platform. The experimental results demonstrate that the proposed strategy can effectively decouple speed and tension. The system has fast dynamic response, low overshoot, high steady-state accuracy and good tracking performance.