中文摘要：

造纸传输单元的多电机同步控制采用传统的电子虚拟总轴控制策略，在负载发生扰动的过程中。传统电子虚拟总轴控制策略因虚拟弹性扭矩反馈存在时间滞后，引起电机之间转速和位置同步误差较大，从而导致纸张质量下降。针对这一问题，提出了改进的电子虚拟总轴控制策略。在上述策略中，为减小电机之间的转速同步误差，采用滑模观测器观测负载转矩，将观测的负载转矩反馈给虚拟电机，同时进行实时的前馈补偿；为减小电机之间的位置差，在虚拟机械单元引人积分项。仿真结果表明，改进的电子虚拟总轴控制策略提高了造纸传输单元应对负载突变的能力。有效减小了电机间转速和位置同步误差，从而提高纸张工艺质量。

英文摘要：

The multi motor synchronous control of paper transmission unit adopted the traditional electronic virtual line-shafting control strategy. In the process of load disturbance, the traditional electronic virtual line-shafting con- trol strategy has a great error in the speed and position of motors due to the time lag of the virtual elastic torque feed- hack, which leads to the decrease of the quality of the paper. Aiming at this problem, we propose an improved ELS control strategy. Base on this strategy, the sliding mode observer was designed to load torque, and the observed load torque was feedhack to the virtual machine, and meanwhile, feedforward compensation was carried out in real-time. In order to reduce the position error of motors, the integral term was introduced in the virtual machine unit. Simula- tion results show that the improved ELS can improve the ability of paper transmission unit to deal with the load change, and effectively reduce the speed and position synchronization error of motors, so as to improve the paper quality.