基于动态补偿的多电机控制算法

A key problem in the motor control is to achieve the same speed in the multi-motor coordinated control achieves the same speed. When the load changes and the motor parameters change, the motor performance will be degraded, and will not be reach a desirable control effect. In order to keep the speed between the motors synchronized, the mathematical model of vector control for the permanent magnet synchronous motor d-q coordinate system is established. Based on the speed following control, a variable gain speed compensator based on the single neuron PID is proposed for the deviation coupling control. The simulation model of three permanent magnet synchronous motors is established in MATLAB/Simulink. The simulation results show that compared with the traditional PID fixed gain speed compensator algorithm, the variable gain compensator of single neuron PID has stronger robustness and faster convergence.