基于时变参数扰动观测器补偿的永磁同步电机非光滑速度调节器
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摘要
提出一种基于时变参数扰动观测器补偿的非光滑速度调节器,针对永磁同步电机(PMSM)速度环中存在的外部负载扰动、速度采样信号失真等影响因素,提高系统动态响应及抗扰性能。以永磁同步电机驱动系统的速度环扰动分析为基础,针对速度误差设计非光滑控制律,使闭环系统的速度偏差迅速收敛到一个小的区域。然后,引入参数时变的扰动观测器来估计速度环中的总扰动,提高扰动估计的精度,在观测器中对转速采样滤波器带来的延迟进行补偿,实现速度检测无时延。最后,将扰动估计值用于前馈补偿构成复合控制器。仿真和实验结果验证了基于时变参数扰动观测器补偿的非光滑控制策略的正确性及可行性。
Non-smooth speed regulator based on time-varying parameter disturbance observer compensation for permanent magnet synchronous motor(PMSM) is proposed, aiming at eliminating the influence of external load disturbance and speed sampling signal distortions on the performance of speed control system. First, according to the analysis of the disturbances of the speed loop, the non-smooth control strategy is designed, so that the speed error of the closed-loop system can converge into a small region in finite time. Second, the time-varying parameter disturbance observer is introduced to estimate the total disturbance of the speed loop, and then the estimated value is used for feed-forward compensation. In order to achieve speed detection without time delay, the delay caused by the speed sampling filter is compensated in the observer. The simulation and experimental results verify the correctness and feasibility of the control strategy based on non-smooth control and time-varying parameter disturbance observer.
Non-smooth speed regulator based on time-varying parameter disturbance observer compensation for permanent magnet synchronous motor(PMSM) is proposed, aiming at eliminating the influence of external load disturbance and speed sampling signal distortions on the performance of speed control system. First, according to the analysis of the disturbances of the speed loop, the non-smooth control strategy is designed, so that the speed error of the closed-loop system can converge into a small region in finite time. Second, the time-varying parameter disturbance observer is introduced to estimate the total disturbance of the speed loop, and then the estimated value is used for feed-forward compensation. In order to achieve speed detection without time delay, the delay caused by the speed sampling filter is compensated in the observer. The simulation and experimental results verify the correctness and feasibility of the control strategy based on non-smooth control and time-varying parameter disturbance observer.
引文
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[15]刘旭东,李珂,孙静,等.基于广义预测控制和扩展状态观测器的永磁同步电机控制[J].控制理论与应用,2015,32(12):1613-1619.Liu Xudong,Li Ke,Sun Jing,et al.Generalized predictive control based on extended state observer for permanent magnet synchronous motor system[J].Control Theory&Applications,2015,32(12):1613-1619.
[16]Du Chao,Yin Zhonggang,Zhang Yanqing,et al.Decoupled current control of induction motors drives with internal model based on active disturbance rejection control strategy[C]//19th International Conference on Electrical Machines and Systems(ICEMS),Chiba,2016:1-6.
[17]于洪国,康忠健,陈瑶.基于双曲正切函数的二阶时变参数扩张状态观测器[J].控制理论与应用,2016,33(4):530-534.Yu Hongguo,Kang Zhongjian,Chen Yao.Timevarying parameter second-order extended state observer based on hyperbolic tangent function[J].Control Theory&Application,2016,33(4):530-534.
[2]Li Juan,Li Shihua,Chen Xisong.Adaptive speed control of a PMSM servo system using an RBFNdisturbance observer[J].Transactions of the Institute of Measurement and Control,2012,34(5):615-626.
[3]Li Shihua,Gu Hao.Fuzzy adaptive internal model control schemes for PMSM speed-regulation system[J].IEEE Transactions on Industrial Informatics,2012,8(4):767-779.
[4]尹忠刚,张迪,蔡剑,等.基于三自由度内模控制的永磁同步电机矢量控制方法[J].电工技术学报,2017,32(21):55-64.Yin Zhonggang,Zhang Di,Cai Jian,et al.A vector control method based on three-degree-of-freedom internal model control for permanent magnet synchronous motor[J].Transactions of China Electrotechnical Society,2017,32(21):55-64.
[5]Zhang Xiaoguang,Sun Lizhi,Zhao Ke,et al.Nonlinear speed control for PMSM system using sliding-mode control and disturbance compensation techniques[J].IEEE Transactions on Power Electronics,2013,28(3):1358-1365.
[6]牛里,杨明,刘可述,等.永磁同步电机电流预测控制算法[J].中国电机工程学报,2012,32(6):131-137.Niu Li,Yang Ming,Liu Keshu,et al.A predictive current control scheme for permanent magnet synchronous motor[J].Proceedings of the CSEE,2012,32(6):131-137.
[7]黄庆,黄守道,冯垚径,等.基于变结构自抗扰的永磁电动机速度控制系统[J].电工技术学报,2015,30(20):31-39.Huang Qing,Huang Shoudao,Feng Yaojing,et al.Variable structure based active-disturbance rejection controller for speed control system of permanent magnet synchronous motor[J].Transactions of China Electrotechnical Society,2015,30(20):31-39.
[8]左月飞,张捷,刘闯,等.针对时变输入的永磁同步电机改进型自抗扰控制器[J].电工技术学报,2017,32(2):161-170.Zuo Yuefei,Zhang Jie,Liu Chuang,et al.A modified adaptive disturbance rejection controller for permanent magnet synchronous motor speed-regulation system with time-varying input[J].Transactions of China Electrotechnical Society,2017,32(2):161-170.
[9]李世华,丁世宏,都海波.非光滑控制理论与应用[M].北京:科学出版社,2013.
[10]张涛.基于扩张状态观测器的永磁同步电机无传感器控制技术研究[D].南京:南京航空航天大学,2016.
[11]Li Shihua,Liu Huixian,Ding Shihong.A speed control for a PMSM using finite-time feedback control and disturbance compensation[J].Transactions of the Institute of Measurement&Control,2010,32(2):170-187.
[12]Leu V Q,Han H C,Jung J W.Fuzzy sliding mode speed controller for PM synchronous motors with a load torque observer[J].IEEE Transactions on Power Electronics,2012,27(3):1530-1539.
[13]郑泽东,李永东,肖曦,等.永磁同步电机负载转矩观测器[J].电工技术学报,2010,25(2):30-36.Zheng Zedong,Li Yongdong,Xiao Xi,et al.Load torque observer of permanent magnet synchronous motor[J].Transactions of China Electrotechnical Society,2010,25(2):30-36.
[14]韩京清.从PID技术到“自抗扰控制”技术[J].控制工程,2002,9(3):13-18.Han Jingqing.From PID technique to active disturbances reject ion control technique[J].Control Engineering of China,2002,9(3):13-18.
[15]刘旭东,李珂,孙静,等.基于广义预测控制和扩展状态观测器的永磁同步电机控制[J].控制理论与应用,2015,32(12):1613-1619.Liu Xudong,Li Ke,Sun Jing,et al.Generalized predictive control based on extended state observer for permanent magnet synchronous motor system[J].Control Theory&Applications,2015,32(12):1613-1619.
[16]Du Chao,Yin Zhonggang,Zhang Yanqing,et al.Decoupled current control of induction motors drives with internal model based on active disturbance rejection control strategy[C]//19th International Conference on Electrical Machines and Systems(ICEMS),Chiba,2016:1-6.
[17]于洪国,康忠健,陈瑶.基于双曲正切函数的二阶时变参数扩张状态观测器[J].控制理论与应用,2016,33(4):530-534.Yu Hongguo,Kang Zhongjian,Chen Yao.Timevarying parameter second-order extended state observer based on hyperbolic tangent function[J].Control Theory&Application,2016,33(4):530-534.