摘  要：设计了一个模糊自抗扰控制系统，将系统的总扰动以及速度张力之间的耦合影响等统一视为系统的“扰动”,利用扩张状态观测器进行观测并加以补偿, 使得控制对象被近似线性化和确定性化，同时采用模糊控制器在线对自抗扰控制器参数进行修正，以实现自抗扰控制器的参数自整定, 提高自抗扰控制器的性能。结合S7-300 PLC构建实验平台，进行了速度突减、三角波跟踪实验。实验结果表明：与传统PID控制相比该控制策略不仅实现了速度和张力的动态解耦，而且
关键词：多电机，自抗扰控制器，模糊控制器，解耦控制

Abstract: Fuzzy active disturbance rejection controller was proposed and applied into two-motor synchronous control system in this paper, the inferential capability of fuzzy control could adjust the ADRC parameters automatically. In order to verify the effectiveness of this controller,the extended state observer was used to estimate and compensate the total disturbance of system, the coupling between speed and tensions, then an approximate linearization and deterministic system was obtained. The experiments of sudden speed decrease, speed tracking triangular wave were completed on the platform constructed combined with SIMATIC S7-300 power PLC. The experimental results of  indicates that: comparing with the traditional PID control system, the control system realizes the better decoupling control of speed and tension, has better performances of dynamic and static characteristics, stronger anti-interference ability and better robustness.
Key words: multi-motor; active disturbance rejection controller; fuzzy controller; decoupling control