Control and disturbance rejection in multi-motor and multi-mass systems using energy based methods

使用基于能量的方法在多电机和多质量系统中进行控制和干扰抑制

• 批准号: 138496-2007
• 负责人: Sicard, Pierre
• 金额: $ 1.65万
• 依托单位: Université du Québec à Trois-Rivières
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2007
• 资助国家: 加拿大
• 起止时间: 2007-01-01 至 2008-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=364981
• 关键词: Control; disturbance; rejection; multi; motor

The large class of multi-motor and multi-mass systems includes robots, web handling equipments, automated vehicle transportation systems, etc. Handling disturbances in tightly coupled systems requires taking into account additional criteria as compared to single motor systems, e.g. in a winder subject to voltage fluctuations, the motors must not only be kept in operation but also maintain the integrity and quality of the product.The main objective of the program is to contribute to the development of control methods and strategies based on energetic characterization of electromechanical systems to improve their overall performance. The main system under study is a web handling system, more precisely a winder as used in many industries: paper, plastic, metal ... Efficient rejection of disturbances is very important to these industries since they can cause breakage, shutdowns or degradation of the product (e.g. wrinkles), henceforth cause rejects or loss of value of the production. Improving motor drive performance in presence of power supply variations, compensation or attenuation of the effect of friction and of air entrainment in winders and efficient control of apparatus to reject disturbances are means that will be researched in this program to improve efficiency of these machines. The control laws and compensation techniques will be validated on two systems: an autonomous vehicle network to demonstrate some concepts and control structures, and an industrial winder for final proof of concept.This work will result in development of new knowledge, and better understanding and control of complex systems. Improved performance and lower sensitivity to external disturbances will benefit industries that use multi-drive systems. To illustrate the potential impact, rejects in some industries are as high as 30% and studies have shown that a system interruption caused by supply disturbances, in particular voltage sags, can cost between 10k$ and 1M$US.

多电机和多质量系统的大类包括机器人、幅材处理设备、自动车辆运输系统等。与单电机系统相比，处理紧密耦合系统中的干扰需要考虑额外的标准，例如在受电压波动影响的卷绕机中，电动机不仅要保持运行，还要保持产品的完整性和质量。该计划的主要目标是促进控制方法的发展，基于机电系统的能量表征的策略，以提高其整体性能。正在研究的主要系统是一个卷筒纸处理系统，更准确地说是一个用于许多行业的络筒机：造纸，塑料，金属......干扰的有效抑制对于这些行业非常重要，因为它们会导致产品的破损、停机或降解（例如起皱），从而导致产品的废品或价值损失。在电源变化的情况下提高电机驱动性能，补偿或衰减摩擦和卷取机中空气夹带的影响，以及有效控制设备以排除干扰，这些都是本计划将研究的提高这些机器效率的方法。控制律和补偿技术将在两个系统上进行验证：一个是自动驾驶汽车网络，用于演示一些概念和控制结构;另一个是工业络筒机，用于最终验证概念。这项工作将促进新知识的发展，并更好地理解和控制复杂系统。性能的提高和对外部干扰的更低灵敏度将使使用多驱动系统的行业受益。为了说明潜在的影响，在一些行业中，废品率高达30%，研究表明，由电源干扰（特别是电压骤降）引起的系统中断可能造成1万美元至1百万美元的损失。