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基于CMAC滑模控制的双马达同步技术研究
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国家十三五重点研发计划项目(2017YFD0701103)


Research on Dual Motor Synchronization Technology Based on CMAC Sliding Mode Control
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    摘要:

    以大型起重机双卷扬系统为研究对象,针对起升过程中存在的双马达同步误差问题,提出一种基于小脑神经网络(CMAC)滑模控制方法,充分利用CMAC响应速度快及滑模变结构控制(SMC)抗干扰能力强的特点,以解决传统控制方法鲁棒性差的问题;在控制过程中采用交叉耦合控制方式,并根据液压系统动态特性将液压泵出口压力差以及吊钩的倾斜角度作为控制指标进行仿真,最后以起升工况进行实验研究。结果表明:与传统方法相比,所提出的控制策略能有效提高两个马达的同步控制精度,抗干扰能力强,满足实际工况需要。

    Abstract:

    The double hoist system of large crane was taken as the research object. Aiming at the problem of dual motor synchronization error existed in the process of hoisting system, a sliding mode control method based on cerebellar model articulation controller(CMAC) was proposed.The fast response of the CMAC and the strong anti-jamming capability of the sliding mode variable structure control were fully used solve the poor robustness of traditional control method. In the control process, cross coupling control mode was used; according to the dynamic characteristics of the hydraulic system,the hydraulic pump outlet pressure difference and hook tilt angle were taken as control targets to make simulation. The lifting condition was studied by experiment.The results show that compared with the traditional method, the proposed control strategy can be used to effectively improve the synchronous control accuracy of two motors, and has strong antiinterference ability.

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张振明.基于CMAC滑模控制的双马达同步技术研究[J].机床与液压,2019,47(14):163-166.
. Research on Dual Motor Synchronization Technology Based on CMAC Sliding Mode Control[J]. Machine Tool & Hydraulics,2019,47(14):163-166

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  • 在线发布日期: 2020-03-12
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