中文摘要：

摘要：提出一种新的二阶自抗扰控制器的两电机同步系统控制方案，两个；阶ADRC分别控制速度回路和张力回路，实现系统速度和张力的动态解耦。扩张状态观测器将系统模型内扰、外扰和速度张力之间的耦合影响统一视为系统总扰动进行实时观测和补偿。在西门子s7～300PLC实验平台上完成了跟踪特性和解耦特性测试实验，与传统PID控制相比。方波速度响应时间提高了5．3s；稳态误差提高了4．31％；当速度突变时张力几乎没有影响。结果表明二阶ADRC控制器能够实现两电机同步系统中速度和张力的解耦控制。

英文摘要：

Abstract： A novel control method based on second--order Auto Disturbance Rejection Controller is proposed and applied to the two- motor synchronous control system. Tow second--order ADRCs are used to realize dynamic decouple of velocity and tension of the system. The coupling influences between internal disturbance, external disturbance and the effect between speed and tension are both considered as total disturbance of the system, which is observed and compensated by ESO. Tracking characteristic and anti--disturbance characteristic are conducted on the platform. Compared with the traditional PID control, square--wave velocity response time reduced 5.3s, steady--state er- ror improved 4.31%, when the speed is changed suddenly the tension is keeping constant. The results showed that second--order ADRC can achieve a better decoupling control of speed and tensions in two--motor synchronous system.