摘要
以四台电动机分别拖动四个升降舞台为研究背景,分析了在实际工程中造成多个升降舞台运行不同步的主要因素以及传动装置中的齿隙对升降舞台启动过程的影响,提出了在速度并联同步控制的基础上引入位置输出耦合补偿控制来实现剧场中多个升降舞台的混合同步控制,同时给出一个满足不同升降舞台工程的同步误差评价函数。仿真结果与工程应用均表明,这种方法很好的实现了多台电机的高精度同步控制。
This paper takes four sets of motor driving the four lifting stages respectively as the background for the study,analyzes the main factor resulting to running out of sync of multiple lifting stage and the influences to the lifting stage＇s booting process by the backlash of the driving device in a practical project,puts forward a hybrid synchronous control,which combines the speed parallel synchronous control with the output coupling compensation control to achieve the synchronous control of multiple lifting stage,and gives a synchronization error evaluation function to meet the different stage project. The simulation results and engineering application show that this method achieves a very good high-precision multi-motor synchronous control.
出处
《电气自动化》
2010年第5期11-13,22,共4页
Electrical Automation
基金
甘肃省科技重大专项"现代演艺机械成套设备技术研发及产业化"(092GKDA001)
甘肃省自然科学基金资助项目(3ZS0512A252032)
兰州理工大学特色学术梯队基金资助
关键词
升降舞台
混合同步控制
评价函数
齿隙
lifting stage hybrid synchronous control evaluation function backlash
