摘要：多电机系统的控制历来是工业制造生产中的重要问题。传统的PID控制策略应用最为广泛，但鲁棒性较差。本文针对三电机同步系统，在磁场定向矢量控制数学模型的基础上，设计了基于自适应反步法的同步控制器。针对如今传感器安装维护困难的问题，设计了一种基于滑模控制理论的张力自适应观测器，以三个电机实际速度与观测速度的误差构成滑模面，将速度状态开关信号作用到状态方程，构成滑模观测器，通过李雅普诺夫函数推导出观测器稳定的条件。最后的仿真结果表明，与传统的PID控制相比，该控制策略解耦效果好，跟踪性能好，具有较好的动态性能和稳态性能。
关键词：自适应反步控制；滑模观测器；非线性；同步控制；张力

Abstract: Multimotor control systems are used widely in industrial production. Traditionally, the PID control strategy is often employed in these control systems. Considering the usually poor robustness of PID controllers, an adaptive backstepping controller together with a tension observer based on sliding mode theory was proposed in this paper to control a three motor synchronous system. The sliding mode surface of the observer was composed of actual velocity and observed velocity, with the switch signal acting on the state equations to adjust velocity and tension. And the stability condition of the observer was also derived based on the Lyapunov stability theory. The simulation results indicate that compared with the traditional PID controller, the proposed control strategy possesses better decoupling effect and higher tracking performance as well as satisfactory dynamic performance and steadystate performance.
Key words: adaptive backstepping control; sliding mode observer; nonlinearity; synchronous control; tension