车载大惯量运动平台双电机驱动控制策略

doi:10.12382/bgxb.2021.0501

摘要/Abstract

摘要： 针对某车载大惯量伺服系统刚度欠缺，系统在高动态响应与稳定运行之间存在的矛盾，提出一种基于速度曲线规划的双电机驱动策略。采用双电机同步消隙的方法来补偿方位通道与俯仰通道中传动间隙的影响，使得负载的驱动力矩变化连续，保证了系统的稳定运行。通过对伺服系统的运行速度曲线进行合理规划，避免了系统较大启动速度与加速度对结构造成的冲击而导致的抖动问题；利用速度规划指令前馈补偿的方式提高了伺服系统的动态跟踪精度，保证了系统的快速运行能力。联合仿真及实验结果表明：双电机同步消隙方法能有效补偿传动结构中间隙/齿隙的影响；速度曲线规划及前馈补偿的方式能有效抑制大惯量挠性结构的抖动问题，同时保证了系统运行的快速性。

关键词: 车载大惯量运动平台, 双电机同步消隙, 速度曲线规划及前馈补偿, 联合仿真

Abstract: A dual-motor driving strategy based on velocity curve planning is proposed for a vehicle-based high-inertia servo system with a contradiction between high dynamic response and stable operation. The dual-motor synchronous anti-backlash technology is adopted to compensate for the effects of backlash in the directional channel and pitch channel, smoothing out variations in driving torque and ensuring the stable operation of the system. The impact of the quick start-up procession and large acceleration which causes the low-frequency chattering problem is thus avoided through the propose planning of the speed curve of the servo system. Meanwhile, the speed planning command feedforward compensation improves the dynamic tracking accuracy of the servo system. Co-simulation and experimental results show that the dual-motor synchronous anti-backlash method can eliminate the influence of transmission clearance/backlash. The velocity curve planning approach with speed command feedforward compensation can effectively suppress the chattering problem of the high-inertia flexible structure and guarantee the system's response capacity.

Key words: vehicle-basedmovingplatformwithhighinertia, dual-motorsynchronousanti-backlashtechnology, velocitycurveplanningwithspeedcommandfeedforwardcompensation, co-simulation

中图分类号:

TJ81⁺0

李方俊，王生捷，李俊峰，王利. 车载大惯量运动平台双电机驱动控制策略[J]. 兵工学报, 2022, 43(10): 2460-2472.

LI Fangjun, WANG Shengjie, LI Junfeng, WANG Li. Control Strategy for Vehicle-Based Dual-Motor Driving Moving Platform with High Inertia[J]. Acta Armamentarii, 2022, 43(10): 2460-2472.

参考文献

［1］汪正军，王军政，马立玲，等.大惯量随动系统解析模型预测控制［J］.北京理工大学学报，2011，31(11):1307-1312.
WANG Z J，WANG J Z，MA L L，et al.Explicit model predictive control for large inertia servo system［J］.Transactions of Beijing Institute of Technology，2011，31(11):1307-1312. (in Chinese)
［2］李仪，郭宏，蔚永强.永磁同步电动机大惯量负载的滑模变结构控制［J］.北京航空航天大学学报，2007，33(10):1208-1211.
LI Y，GUO H，YU Y Q.Sliding mode control of permanent magnet synchronous motor with great inertia load［J］.Journal of Beijing University of Aeronautics and Astronautics，2007，33(10):1208-1211. (in Chinese)
［3］吴向阳.车载大型导弹发射装置电驱动快速垂直起竖技术研究［D］.北京：北京理工大学，2015：61-64.
WU X Y.Study on electric vertical erection for large missile launcher on board［D］.Beijing:Beijing Institute of Technology，2015:61-64. (in Chinese)
［4］ THO H D，KANESHIGE A，TERASHIMA K. Minimum-time s-curve commands for vibration-free transportation of an overhead crane with actuator limits［J］. Control Engineering Practice，2020，98(11):104390.
［5］倪韵竹，戈新生.航天器太阳帆板振动抑制的输入整形方法研究［J］.应用力学学报，2020，37(1):293-300，488-489.
NI Y Z，GE X S. Input shaping for vibration suppression of spacecraft solar sail［J］.Chinese Journal of Applied Mechanics，2020，37(1):293-300，488-489. (in Chinese)
［6］江勇，张伟，刘晓源，等.双电机消隙技术在串联机械臂中的仿真与应用［J］.中国机械工程，2020，31(16):1991-1997.
JIANG Y，ZHANG W，LIU X Y，et al.Simulation and application of anti-backlash technique with dual-motor in the tandem manipulator［J］.China Mechanical Engineering，2020，31(16):1991-1997.(in Chinese)
［7］ WANG W，XIE B，ZUO Z Y，et al.Adaptive backstepping control of uncertain gear transmission servo systems with asymmetric dead-zone nonlinearity［J］.IEEE Transactions on Industrial Electronics，2019，66(5):3752-3762.
［8］ HAN Y, LIU C，WU J H.Backlash identification for PMSM servo system based on relay feedback［J］. Nonlinear Dyn，2016，84(4):2363-2375.
［9］ PRAJAPAT G P，BHUI P，SENROY N，et al. Modelling and estimation of gear train backlash present in wind turbine driven DFIG system［J］.IET Generation，Transmission & Distribution，2018，12(14):3527-3535.
［10］ ZENG T Y，REN X M，ZHANG Y.Fixed-time sliding mode control and high-gain nonlinearity compensation for dual-motor driving system［J］.IEEE Transactions on Industrial Informatics，2020，16(6): 4090-4098.
［11］冷华杰，马晓军，王科淯.基于MATLAB和ADAMS的炮控系统联合仿真［J］.兵器装备工程学报，2020，41（4）：80-85.
LENG H J，MA X J，WANG K Y.Co-simulation of gun control system based on MATLAB and ADAMS［J］. Journal of Sichuan Ordnance，2020，41(4):80-85. (in Chinese)
［12］贾强，王惠方，柯彪.某火箭炮方向机主齿轮啮合动力学特性分析［J］.火炮发射与控制学报，2018，39（2）：49-54.
JIA Q，WANG H F，KE B.The analysis of main gear dynamics meshing of rocket launcher traversing mechanism［J］.Journal of Gun Launch & Control，2018, 39(2):49-54. (in Chinese)
［13］ BAO C，SHEN A W，LUO X， et al. Novel MTPA control strategy for IPMSM based on multiple virtual signals injection［J］.IET Electric Power Application，2020，14(3):457-463.
［14］ XIA J H，GUO Y B，LI Z L，et al. Step-signal-injection-based robust MTPA operation strategy for interior permanent magnet synchronous machines［J］.IEEE Transactions on Energy Conversion，2019，34(4):2052-2061.
［15］耿强，李亮，周湛清，等.双永磁电机系统抗扰动转速同步控制［J/OL］.中国电机工程报:1-10［2021-08-04］.https:∥doi.org/10.13334/j.0258-8013.pcsee.202485.
GENG Q，LI N，ZHOU Z Q，et al.Speed synchronization control of disturbance rejection of dual pmsm system［J］.Proceedings of the CSEE:1-10［2021-08-04］.https:∥doi.org/10.13334/j.0258-8013.pcsee.202485.(in Chinese)
［16］李伟，韩崇伟，刘爱峰，等.干扰速率补偿式火炮线自稳定跟踪控制建模与仿真［J］.兵工学报，2022,43(6):1233-1345.doi: 10.12382/bgxb.2021.0295.
LI W，HAN C W，LIU A F，et al.Modeling and simulation of self-stable gun line control using interference rate compesation［J］.Acta Armamentarii，2022,43(6):1233-1345.doi:10.12382/bgxb.2021.0295. (in Chinese)
［17］ MARGIELEWICZ E，GASKA D，LITAK G.Modeling of the gear backlash［J］.Nonlinear Dyn，2019，97:355-368.
［18］孙龙飞，房立金.基于变偏置力矩的双电机系统消隙控制方法研究［J］.电机与控制学报，2017，21(3):89-96.
SUN L F，FANG L J.Anti-backlash control method of dual-motor driving system based on switch bias torque［J］.Electric Machines and Control，2017，21(3):89-96.(in Chinese)
［19］王轩，张翔，刘艳行. 双电机消隙技术在武器伺服系统中的应用［J］.火控雷达技术，2020，49(1):78-83.
WANG X，ZHANG X，LIU Y H.Application of dual-motor anti-backlash technique in weapon servo system［J］.Fire Control Radar Technology，2020，49(1):78-83.(in Chinese)
［20］李玉霞，王帅，王建立，等.地平主焦点式大视场望远镜的双电机消旋系统［J］.光学精密工程，2021，29(4):749-762.
LI Y X，WANG S，WANG J L，et al.Dual-motor de-rotator system of prime focus alt-azimuth telescope with large field of view［J］.Optics and Precision Engineering，2021，29(4):749-762. (in Chinese)
［21］李攀科，余庆明，王元伦，等.双电机驱动的主从轴功能在数控机床上的运用［J］.制造技术与机床，2021(5):157-160.
LI P K，YU Q M，WANG Y L，et al.Application of master-slave function driven by double motors in CNC machine tool［J］.NC Technology，2021(5):157-160.(in Chinese)
［22］ CORDEIRO A，MANUEL J，PIRES V F.Performance of synchronized master-slave closed-loop control of AC electric drives using real time motion over Ethernet (RTMoE)［J］.Mechatronics，2020，69(4):102400.
［23］董汉卿.基于EtherCAT通信的双伺服电机同步驱动系统研究［D］.杭州：浙江理工大学，2016:57-59.
DONG H Q. Research on double servo motor synchronous control based on EtherCAT communication［D］.Hangzhou:Zhejiang Sci-tech University，2016:57-59. (in Chinese)
［24］ CHEN Y Y，YANG M，LONG J，et al. A moderate on-line servo controller parameter self-tuning method via variable-period inertia identification［J］.IEEE Transactions on Power Electronics，2019，34(12):12165-12180.
［25］蒋潇蓉，郁家耀，周君涛，等.基于ADAMS的某无后坐炮发射动态仿真分析［J］.兵器装备工程学报，2020，41(8):17-21.
JIANG X R，YU J Y，ZHOU J T，et al.Dynamic simulation analysis of a recoilless gun launching based on ADAMS［J］.Journal of Ordnance Equipment Engineering，2020，41(8):17-21.(in Chinese)

[1]	梅程，彭建鑫，胡宇辉. 单轴并联混合动力商用车整车总质量在线估计算法[J]. 兵工学报, 2021, 42(9): 1838-1846.
[2]	孙国轩，宫新宇，时岩，谢继鹏，鲁斌. 基于差分进化算法的自行高炮随动系统PID参数整定[J]. 兵工学报, 2021, 42(5): 903-912.
[3]	陈凯柏，高敏，周晓东，惠江海. 调频连续波引信高功率微波前门耦合效应研究[J]. 兵工学报, 2020, 41(5): 881-889.
[4]	陈汉，李科伟，邓宏彬，危怡然，赵瑾. 一种共轴双旋翼飞行器悬停控制联合仿真[J]. 兵工学报, 2019, 40(2): 303-313.