针对轮轨式天线座并联驱动链的滚轮半径、电机参数、粘着特性等特征参数差异引起的多电机不同步甚至系统失稳失效问题,提出了阵面角速度闭环,两台驱动器并联分别再驱动两台电机的并联二拖四策略。从轮轨式天线座的滚轮受力,以及滚轮与轮轨之间的粘着特性出发,基于电机矢量控制模型,在Simulink 平台搭建了并联二拖四仿真控制模型,仿真验证了当旋转周期内局部粘着参数发生变化时,并联二拖四系统相对一拖四系统具有更高的控制冗余性,从而确保系统的速度-扭矩同步和动态跟踪。

With the inevitable deviations of the wheel radius, motor parameters and adhesion features in the parallel driving chains of the wheel-rail antenna, torque asynchronization and system failure may occur frequently. In this paper, a parallel “two-drag-four” driving strategy is proposed, in which the rolling velocity of antenna pedestal is closed-loop controlled with two individual converters driving four motors. The dynamic model of the pedestal rotation and the wheel-rail adhesion feature are firstly established, and the “two-drag-four” model is built in Simulink based on the flux oriented vector control of single motor. The simulation results indicate that, the “two-drag-four” strategy has stronger control redundancy contrast to “one-drag-four” against the sectional adhesion features deviation in the rotation cycle, and the dynamic tracking capacity could be guaranteed with speed and torque synchronization.

TH137