Distributed total-amount optimal coordinated control of multi-motors with input and output saturation |
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| Institution: | 1. College of Electrical and Information Engineering, Hunan University of Technology, Zhuzhou, Hunan, 412007, China;2. Zoomlion Heavy Industry Science And Technology Co.,Ltd., Changsha, Hunan, 410000, China;1. School of Mathematics and Econometrics, Hubei University of Education, Wuhan 430205, P. R. China;2. Hubei Key Laboratory of Advanced Textile Materials & Application, Wuhan Textile University, Wuhan 430200, PR China;3. School of Mechanical Engineering and Electronic Information, China University of Geosciences, Wuhan 430074, PR China;1. School of Mathematics and Statistics, Nanjing University of Science and Technology, Nanjing, Jiangsu 210094 China;2. School of Electrical and Electronic Engineering, Nanyang Technological University, Nanyang Avenue, 639798 Singapore;1. Czech Technical University in Prague, University Centre for Energy Efficient Buildings, Trinecka 1024, Bustehrad 273 43, Czech Republic;2. Czech Technical University in Prague, Faculty of Electrical Engineering, Department of Control Engineering, Karlovo namesti 13, 121 35, Prague 2, Czech Republic |
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| Abstract: | Specific to the double saturation constraints of input and output in multimotor network systems, an anti-windup control framework with distributed total-amount optimal coordination is constructed, and a new saturated super-twisting sliding mode control strategy is designed in this paper. First, a mathematical model of direct torque and flux control of a multipermanent magnet synchronous motor is established. Next, the consistency of the total amount and output saturation are taken as the constraint conditions. Considering the lowest total energy consumption, the optimal multi-axis total-amount coordinated allocation algorithm is designed on the basis of the Karush-Kuhn-Tucker (KKT) condition. Then, the input saturation is introduced into the dynamic integral part of the super-twisting algorithm. A new saturated super-twisting sliding mode tracking control algorithm is designed, and the barrier Lyapunov function is used to prove the input constraint. Finally, the Matlab/Simulink simulation and RT-LAB semi-physical experiments verify that the anti-windup control strategy of distributed total-amount optimal coordination can effectively solve the double saturation constraints of input and output. |
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