在光电经纬仪设备的水平轴系中实现了双电机的直接驱动控制。建立刚性连接下双电机的直接驱动模型,与单电机驱动相比:双电机与单电机的控制特性的谐振频率几乎是一致的,而双电机反谐振频率是单电机驱动的1.414倍,因此双电机具有比单电机驱动良好的控制对象特性。由于双电机采用了刚性连接,其速度已经同步了。提出了电流跟随控制方法实现力矩同步的控制算法。具体就是以其中任何一个电机作为主电机,另外一个电机作为从电机跟踪主电机的反馈电流,而速度反馈直接到主电机上。实验结果表明理论分析的有效性,在跟踪轨迹为0.01°/s的直线,位置随机误差为0.011 9″。

It is very important to use two motors synchronization control in photoelectric theodolite tracking control system. First, the direct drive function of two motors is modeled. Compared with single motor direct control system, the resonance frequency of two motors control systems is the same, while the anti-resonance frequency of two motor control system is 1.414 times than those of sing motor system. Because of hard coupling for direct drive, the speed of two motor of the system is the same, and the synchronization of torque for motors is critical. The current master-slave control technique is effective to synchronize the torque, in which the current loop of the master motors is tracked by the other slave motor. The speed feedback into the input of current loop of the master motors. The experiments test the performance of the two motors drive system. The random tracking error is 0.011 9″for the line trajectory of 0.01°/s.

辐型磁钢双机械端口电机是一种新型结构的双机械端口电机,其独特的电磁耦合特性有利于提高系统的整体性能,但其内、外电机之间的较强耦合也增加了其控制难度。该文针对其控制问题,研究内、外电机的解耦控制方法。首先,基于辐型磁钢双机械端口电机的数学模型进行分析推导,理论上证明其存在较强耦合的内、外电机仍然可以采用直接转矩控制方法进行控制,并根据负载角与电磁转矩的单调性要求,推导出采用直接转矩控制方法所需满足的条件;然后,采用基于空间矢量调制的直接转矩控制方法,实现辐型磁钢双机械端口电机的内、外电机解耦控制,验证试验结果显示,内、外电机基本实现转矩独立控制,达到良好的解耦控制效果。

The dual mechanical ports machine (DMPM) with spoke type permanent magnet (PM) arrangement is a new type of DMPM. Its unique electromagnetic coupling characteristics are beneficial for the improvement of system performance, but the coupling between its inner motor and outer motor also makes it difficult to control in the meantime. In allusion to the control problem in DMPM with spoke type PM arrangement, the decoupling control of its inner and outer was researched in this paper. Firstly, based on the mathematic model of DMPM with spoke type PM arrangement, it was theoretically proved that the inner motor and the outer motor could be controlled by the direct torque control (DTC) method in spite of the electromagnetic coupling between them, and the condition which should be met in control was derived according to the requirement for monotonic relationship between the load angle and the electromagnetic torque; and then the decoupling control between the inner motor and the outer

根据开关磁阻电机的自身特性，制定了外环速度模糊PI、内环电流PI、变角度控制的双闭环控制策略。策略的每一个控制环节都是根据开关磁阻电机的特性而选取的：PI控制能够提高开关磁阻电机控制系统的稳定性；能够提高开关磁阻电机控制系统的精确性；变角度能够提高开关磁阻电机控制系统的响应速度。在MATLAB/Simulink的环境下，通过开关磁阻电机控制系统能够很好地实现对开关磁阻电机的控制。

According to the characteristics of switch reluctance motors,the author formulates the double closed loop control strategy based on fuzzy PI of the outer ring speed,current PI of the inner ring and control through variable angle.Each control link of the control strategy is chosen according to the characteristics of switch reluctance motors.PI control can improve the stability of the switch reluctance motor control system.Fuzzy control can improve the accuracy,and variable angle can improve its response speed.In the MATLAB/Simulink environment,this control strategy can realize a good control over the switch reluctance motors through this control system.

多电机系统同步协调控制在电机控制领域的应用越来越广泛,控制策略起重要的作用。针对多电机同步系统的多变量解耦控制问题,国内外许多学者作了深入研究,先后提出了多种有效的控制方法。为了进一步加强多电机同步协调控制策略的研究,详细综述了近年来国内外提出的典型控制策略,并对其控制方法展开分析,对控制对象的解耦性能、鲁棒性及跟踪精度等控制性能进行比较研究,分别总结了各种控制策略的特点,探讨了多电机同步协调控制策略的发展趋势。

The multi-motor synchronous coordinative control system has been more widely used in the field of motor control, and control strategy plays an important role. On account of the problem about multivariable decoupling control in multi-motor synchronous system, thorough research had been made by a large number of domestic and foreign scholars, and some effective control methods had been put forward. In order to further strengthen the research of multi motor synchronous and coordination control strategy, the typical control strategies proposed in recent years at home and abroad were summarized, the control methods were analyzed, and the control performances of the control object, such as decoupling performance, robustness and tracking accuracy were studied. The characteristics of various control strategies were summarized, and the development trend of multi-motor synchronous and coordinated control strategy in the future was discussed.

对于多电机操控的高复杂度机电系统，构建对多电机控制的通用性强的控制算法十分重要。给出了基于多Lyapunov函数方法设计的感应电机速度控制模糊滑模控制算法。在控制方案中，首先应用Lyapunov 函数方法设计感应电机的速度估计器；其次应用Lyapunov 函数方法设计滑模控制器；最后应用Lyapunov 稳定条件，设计模糊滑模控制器。整合的模糊滑模控制技术，为多电机控制提供了有效的参考。

As to the high complexity mechanical-electronic operation system under the motors,it is very important that gives the general control algorithm to control the motors.The study pres-ents fuzzy sliding mode control algorithm based on multi-Lyapunov function method to control the motors speed.The control scheme,first,Lyapunov function method is applied to design speed estimator of the motors;second,Lyapunov function method is applied to structure the sliding mode control er;final y,applying Lyapunov stability condition,the fuzzy sliding mode control er is presented.Integration of fuzzy sliding mode control technology provides effective reference for the motors control ed.