Adaptive multi-level differential coupling control strategy for dual-motor servo synchronous system based on global backstepping super-twisting control

IF 2.2 4区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

IET Control Theory and Applications Pub Date : 2024-01-23 DOI:10.1049/cth2.12613

Taoyu Wang, Shiyan Sun

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Abstract

A new dual-motor servo steering system with improved reliability and safety is proposed. But, despite the advantages of the proposed servo system, it is strongly coupled, non-linear and multivariable, where the biggest challenge lies in its tracking and synchronization control. To improve the tracking and synchronization control performance of the proposed servo system, a tracking and synchronization control strategy based on backstepping super-twisting control and multi-level differential coupling is presented. First, a parallel model of the dual-motor is established. Then, backstepping and super-twisting control algorithms are integrated while adaptively optimizing key parameters to ensure the robustness and tracking performance of each motor. After that, an angular synchronization controller with multi-level differential coupling and backstepping super-twisting algorithm is proposed to compensate for the synchronization error of the dual-motor system caused by parameter uncertainty. Finally, the simulation is carried out using Simulink to verify the effectiveness of the proposed control strategy.

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基于全局反步进超扭曲控制的双电机伺服同步系统自适应多级差分耦合控制策略

本文提出了一种新的双电机伺服转向系统，其可靠性和安全性都有所提高。但是，尽管所提出的伺服系统具有诸多优点，它仍具有强耦合、非线性和多变量的特点，其中最大的挑战在于其跟踪和同步控制。为了提高拟建伺服系统的跟踪和同步控制性能，本文提出了一种基于反步超扭曲控制和多级微分耦合的跟踪和同步控制策略。首先，建立了双电机的并行模型。然后，集成反步态和超扭曲控制算法，同时自适应优化关键参数，以确保每个电机的鲁棒性和跟踪性能。之后，提出了一种采用多级微分耦合和反步态超扭曲算法的角度同步控制器，以补偿参数不确定性引起的双电机系统同步误差。最后，使用 Simulink 进行了仿真，以验证所提控制策略的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IET Control Theory and Applications 工程技术-工程：电子与电气

CiteScore

5.70

自引率

7.70%

发文量

167

审稿时长

5.1 months

期刊介绍： IET Control Theory & Applications is devoted to control systems in the broadest sense, covering new theoretical results and the applications of new and established control methods. Among the topics of interest are system modelling, identification and simulation, the analysis and design of control systems (including computer-aided design), and practical implementation. The scope encompasses technological, economic, physiological (biomedical) and other systems, including man-machine interfaces. Most of the papers published deal with original work from industrial and government laboratories and universities, but subject reviews and tutorial expositions of current methods are welcomed. Correspondence discussing published papers is also welcomed. Applications papers need not necessarily involve new theory. Papers which describe new realisations of established methods, or control techniques applied in a novel situation, or practical studies which compare various designs, would be of interest. Of particular value are theoretical papers which discuss the applicability of new work or applications which engender new theoretical applications.