具有非线性耦合关系的多电机系统协调控制

耦合多电机系统在军事、航空、交通运输和工程实践中有着广泛的应用。研究耦合多电机系统的稳定性和协调控制对提高系统的工作效率和性能、保证系统的稳定运行有重要的理论意义和现实价值。项目主要研究具有确定耦合关系和不确定耦合关系的两类多电机系统的协调控制问题；提出将电机的状态方程、运动方程和电机之间的耦合关系结合起来建立耦合多电机系统的数学模型；研究这两类耦合多电机系统的稳定和协调镇定问题，给出稳定和协调镇定的充分条件；设计既能保证单个电机稳定运行又能保证多个电机协调一致的鲁棒协调控制器并对系统的整体性能进行优化；重点研究系统在启动，变速、负载不确定以及参数时变情况下的多电机协调控制问题，同时解决一个逆变器驱动多个电机模式下的多电机系统的协调控制问题；搭建耦合两电机系统的Simulink仿真模型和实物实验平台，验证提出的协调控制策略的有效性。

Coupling multi-motors system are widely used in many fields such as military, aviation, transportation and engineering practices. Research on the stability analysis and coordinating control strategy of coupling multi-motors system is of great theoretical significance and practical value to improve system's efficiency and performance and ensure system's stable operation. The main works of this research are coordinating control problems about certain coupling and uncertain coupling multi-motors system. First of all, the mathmatical models are established by combining the state equation, motion equation of motor with coupling relationship between motors.The sufficient conditions of stability and coordinating stabilization are obtained after analyzing the stability and the coordinating stabilization of the system.A robust coordinating controller which can guarantee both the operation stability of each motor and the coordinating performance between motors is designed and the whole performance of the system is optimized. One focus is the coordinating control of motors under the condition of startup, speed variation, load uncertainty and parameters change with time.The coordinating control problem existing in the two or more motors fed by a single inverter is solved. Simulink simulation and experiment platform of two coupling motors system are setup and the effectiveness of the proposed coordinating control strategies are verified.