深水试验水池大型升降平台多电机同步控制

深水试验水池是开展深海装备开发必不可少的试验手段,大型升降平台是其中的关键设备.大型高精度、高转速传动系统的多电机同步控制是最为核心的问题之一.同步控制算法的优劣直接影响系统的性能与可靠性.提出深水试验水池大型升降平台多电机同步协调控制系统构成方案,并提出一种新的基于拉力死区误差均衡及中心耦合误差的升降平台多电机同步协调控制策略,实现了拉力控制和位置控制的解耦;同时,提出了多电机控制的升降平台仿真系统,其仿真结果表明:所提出的控制策略同步稳定性能高、收敛速度快,具有很高的应用价值.

Multi-motor Synchronization Control of the Large-sized Lifting Platform for the Deep Water basin

The large-sized lifting platform is being used in large-sized deep water basin and it provides one of the necessary ways for developing the deep-sea equipments. Multi-motor synchronization control of the driving system with high precision and high speed is one of the most critical techniques. The performance and reliability of the system relies on the synchronization control strategy. In reality, the multi-motor synchronization performance would be reduced severely due to the effect of the different driving characteristics of each transfer shaft and the effect of the changes in load. However, the existing algorithms are not adapted to the lifting platform control system. A new multi-motor synchronization control strategy for lifting platform based on the pulling force balance dead zone error and the center coupling error (PFBDZE-CCE) is proposed. That makes it possible to obtain the decoupling control of the pulling force and position. A simulation model of the multi-shaft control system for lifting platform is proposed. And the simulation results prove that the proposed strategy has a good synchronized stability behavior, a quick convergence rate and thus has a great application value. .