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

大范围的多电机、多质量系统包括机器人、卷筒纸搬运设备、自动车辆运输系统等。与单电机系统相比，处理紧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绕线机中，电机不仅必须保持运行，而且必须保持产品的完整性和质量。该计划的主要目标是促进基于机电系统能量表征的控制方法和策略的发展，以提高其整体性能。所研究的主要系统是卷筒纸处理系统，更确切地说，是用于许多行业的卷筒机：造纸，塑料，金属…对这些行业来说，有效地抵制干扰是非常重要的，因为它们会导致产品的断裂、关闭或退化（例如皱纹），从而导致拒收或产品价值的损失。在电源变化的情况下改善电机驱动性能，补偿或衰减摩擦和卷绕机空气夹带的影响，以及有效控制设备以排除干扰，这些都是本计划将研究的方法，以提高这些机器的效率。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，另一个是工业卷绕机，用于最终的概念验证。这项工作将导致新知识的发展，以及对复杂系统更好的理解和控制。提高性能和降低对外部干扰的灵敏度将有利于使用多驱动系统的行业。为了说明潜在的影响，一些行业的废品率高达30%，研究表明，由供电干扰引起的系统中断，特别是电压下降，可能会造成1万美元到100万美元的损失。

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.