锻压技术

基于自抗扰扭矩分配算法的伺服凸轮式压力机双电机同步控制

英文标题：Synchronous control of dual-motor in servo cam press based on active disturbance rejection torque allocation algorithm

作者：牛志存1 2 3 汪锐1 2 3 胡志力1 2 3

单位：1.湖北隆中实验室 2.武汉理工大学现代汽车零部件技术湖北省重点实验室 3.武汉理工大学材料绿色成形技术与装备湖北省工程中心

关键词：伺服凸轮式压力机双电机同步控制交叉耦合自抗扰控制扭矩分配

分类号：TM341

出版年,卷(期):页码：2024,49(3):161-169

摘要：

为解决伺服凸轮式压力机由于传动偏载或扭矩分配不均产生的传动系统严重的非线性振动问题，提出在凸轮轴两端各采用一个伺服电机实现双电机同步驱动来提高凸轮-滚子传动系统的可靠性，并提出基于自抗扰扭矩分配算法的交叉耦合同步控制策略，该策略将双电机的速度同步误差输入至同步控制器，通过权值变化规律调整权值，直至达到性能指标要求。仿真结果表明：与传统交叉耦合控制系统相比，基于自抗扰扭矩分配算法的同步控制策略的抗干扰能力强、跟踪响应速度快、同步控制精度更高、达到速度同步的时间更短，位置同步误差小于0.02 mm。仿真结果不仅验证了伺服凸轮式压力机双电机同步驱动策略的有效性，还为解决伺服凸轮式压力机的控制问题提供了可行方案。

To solve the problem of severe nonlinear vibration in the transmission system caused by biased load of transmission or uneven torque distribution in servo cam pressure, therefore, a dual-motor synchronous drive strategy using a servo motor at each end of camshaft was proposed to enhance the reliability of cam-roller transmission system，and a cross coupling synchronous control strategy based on the active disturbance rejection torque allocation algorithm was introduced. This strategy took the speed synchronization error of dual-motor as input to the synchronization controller, and adjusted the weight values according to predetermined variation laws until the performance index requirements were met. The simulation results demonstrate that compared to the traditional cross-coupling control systems, this synchronous control strategy based on the active disturbance rejection torque allocation algorithm exhibits superior anti-interference capabilities, faster tracking response speeds, higher synchronization control accuracy and shorter time required to achieve speed synchronization, and the position synchronization error is less than 0.02 mm. The simulation results not only verify the effectiveness of the dual-motor synchronous drive strategy for the servo cam press, but also provide a feasible solution to the control problem of the servo cam press.

基金项目：

国家自然科学基金面上项目（52075400）；湖北隆中实验室自主创新项目（2022ZZ-04）；国家111计划项目课题（B17034）；湖北省重点研发计划（2021BAA200）；湖北省技术创新重大专项（2022AAA001）；湖北省科技创新人才及服务专项（2022EJD012）

作者简介：牛志存（1999-），男，硕士研究生，E-mail：zhicunniu@163.com；通信作者：胡志力（1983-），男，博士，教授，博士研究生导师，E-mail：zhilihuhit@163.com

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