多电机协同驱动系统的控制策略研究
摘 要
多电机协同驱动系统在现代工业、机器人技术及智能装备等领域应用广泛，其控制策略研究具有重要理论意义和实际价值。针对传统单电机驱动难以满足复杂工况下高性能要求的问题，本文聚焦于多电机协同驱动系统的控制策略，旨在实现各电机间的高效协同与精准控制。通过分析多电机系统动力学特性，提出基于模型预测控制的协同控制方法，该方法融合了状态反馈与前馈补偿机制，有效解决了多电机系统中存在的耦合干扰与动态响应不一致难题。利用自适应滤波算法对系统参数进行在线辨识，提高了控制精度与鲁棒性。实验结果表明，所提控制策略能够显著提升多电机系统的同步性能，在负载突变情况下仍保持良好稳定性，相较于传统PID控制方法，位置误差降低约30%，响应时间缩短20%。
关键词：多电机协同驱动 模型预测控制 同步控制
Abstract
Multi-motor cooperative drive system is widely used in modern industry, robot technology and intelligent equipment, and its control strategy research has important theoretical significance and practical value. In view of the problem that the traditional single motor drive is difficult to meet the high performance requirements under complex working conditions, this paper focuses on the control strategy of multi-motor cooperative drive system, aiming to realize the efficient coordination and precise control among the motors. By analyzing the dynamic characteristics of multi-motor system, the cooperative control method based on model prediction control is proposed. This method integrates state feedback and feedforward compensation mechanism, and effectively solves the problem of inconsistent coupling interference and dynamic response in multi-motor system. We improve the control accuracy and robustness. The experimental results show that the proposed control strategy can significantly improve the synchronization performance of the multi-motor system and maintain good stability under the load mutation. Compared with the traditional PID control method, the position error is reduced by about 30% and the response time is reduced by 20%.
Keyword:Multi-Motor Cooperative Drive Model Predictive Control Synchronous Control
目 录
1绪论 1
1.1多电机协同驱动系统的研究背景 1
1.2国内外研究现状综述 1
1.3本文研究方法与技术路线 2
2多电机协同驱动系统的建模分析 2
2.1系统数学模型建立 2
2.2动力学特性分析 3
2.3模型验证与仿真测试 3
3协同控制策略设计与优化 4
3.1控制目标与性能指标 4
3.2基于反馈的协同控制算法 4
3.3控制参数优化方法 5
4实验验证与结果分析 6
4.1实验平台搭建与测试方案 6
4.2实验数据采集与处理 6
4.3结果对比与性能评估 7
结论 7
参考文献 9
致谢 10
摘 要
多电机协同驱动系统在现代工业、机器人技术及智能装备等领域应用广泛，其控制策略研究具有重要理论意义和实际价值。针对传统单电机驱动难以满足复杂工况下高性能要求的问题，本文聚焦于多电机协同驱动系统的控制策略，旨在实现各电机间的高效协同与精准控制。通过分析多电机系统动力学特性，提出基于模型预测控制的协同控制方法，该方法融合了状态反馈与前馈补偿机制，有效解决了多电机系统中存在的耦合干扰与动态响应不一致难题。利用自适应滤波算法对系统参数进行在线辨识，提高了控制精度与鲁棒性。实验结果表明，所提控制策略能够显著提升多电机系统的同步性能，在负载突变情况下仍保持良好稳定性，相较于传统PID控制方法，位置误差降低约30%，响应时间缩短20%。
关键词：多电机协同驱动 模型预测控制 同步控制
Abstract
Multi-motor cooperative drive system is widely used in modern industry, robot technology and intelligent equipment, and its control strategy research has important theoretical significance and practical value. In view of the problem that the traditional single motor drive is difficult to meet the high performance requirements under complex working conditions, this paper focuses on the control strategy of multi-motor cooperative drive system, aiming to realize the efficient coordination and precise control among the motors. By analyzing the dynamic characteristics of multi-motor system, the cooperative control method based on model prediction control is proposed. This method integrates state feedback and feedforward compensation mechanism, and effectively solves the problem of inconsistent coupling interference and dynamic response in multi-motor system. We improve the control accuracy and robustness. The experimental results show that the proposed control strategy can significantly improve the synchronization performance of the multi-motor system and maintain good stability under the load mutation. Compared with the traditional PID control method, the position error is reduced by about 30% and the response time is reduced by 20%.
Keyword:Multi-Motor Cooperative Drive Model Predictive Control Synchronous Control
目 录
1绪论 1
1.1多电机协同驱动系统的研究背景 1
1.2国内外研究现状综述 1
1.3本文研究方法与技术路线 2
2多电机协同驱动系统的建模分析 2
2.1系统数学模型建立 2
2.2动力学特性分析 3
2.3模型验证与仿真测试 3
3协同控制策略设计与优化 4
3.1控制目标与性能指标 4
3.2基于反馈的协同控制算法 4
3.3控制参数优化方法 5
4实验验证与结果分析 6
4.1实验平台搭建与测试方案 6
4.2实验数据采集与处理 6
4.3结果对比与性能评估 7
结论 7
参考文献 9
致谢 10
