Efficient load sharing in multi-motor systems using energy based methods

多电机和耦合能源在实践中是常见的，例如在机器人、幅材处理设备和电力系统中，并且随着电动和混合动力车辆以及分布式发电的普及而变得越来越重要。在模块化和紧密耦合的系统中处理多个目标和干扰以获得实用的控制结构对于实践工程师和涉及关键责任的应用程序来说是一个挑战。该计划的主要目标是促进基于机电系统的能量表征的控制方法和策略的发展，以提高其整体性能。具体而言，在刚性和柔性耦合的多电机系统的电压扰动和内部稳定性标准的负载分配的问题将进行研究，特别是在能源效率优化的背景下。实际的控制结构，保证稳定性将开发使用混合反推和反演控制从能量宏观表示（EMR），并将在多电机试验台上进行实验验证的结果。一个共同的EMR反推的方法将提供一个系统的方法来处理能源管理，负载共享和耦合的动态导致控制律，是有吸引力的工业实施的设计方法的可访问性和保证的稳定性，它提供。通过优化多电机系统中的负载分配，可以显著节省能源。然而，该方法不限于这些系统，并且其还可以应用于其他系统，诸如分布式发电和混合能源系统。应用到牵引系统和不同的子系统在电动和混合动力汽车将构成本研究计划的产出之一。

Multi-motor and coupled energy sources are common in practice, e.g. in robots, web handling equipment and power systems, and are increasingly important with the proliferation of electrical and hybrid vehicles and of distributed generation. Handling of multiple objectives and disturbances in modular and tightly coupled systems to obtain practical control structures is a challenge for practicing engineers and for applications that involve critical liability. 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. Specifically, the problem of load sharing in rigidly and flexibly coupled multi-motor systems subject to voltage disturbance and internal stability criteria will be studied, in particular in the context of energy efficiency optimization. Practical control structures with guaranteed stability will be developed using a mixed backstepping and inversion based control from Energetic Macroscopic Representation (EMR), and the results will be validated experimentally on a multi-motor test-bed. A common EMR-backstepping approach will provide a systematic approach to deal with energy management, load sharing and coupled dynamics leading to control laws that are attractive for industrial implementation by the accessibility of the design approach and the guaranteed stability it offers. Significant energy savings are possible by optimizing load sharing in multi-motor systems. However, the approach is not limited to these systems and it can also be applied to other systems such as in distributed generation and in hybrid energy sources systems. Application to traction systems and to different subsystems in electric and hybrid vehicles will constitute one of the outputs of this research program.