基于ESO与反步法的永磁同步电动机非线性控制
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摘要
在永磁同步电动机(permanent magnet synchronous motor,PMSM)运行期间,存在许多未知不确定项和未知干扰,其为一种多变量、高阶次、强耦合的非线性系统。为了能够分别对系统中各个状态量中的不确定性干扰进行动态补偿,构造了一种低阶的扩张状态观测器(Extended State Obeserver,ESO)。同时,为了对系统稳定性进行有效控制,利用反步设计法(Backstepping)构造了稳定的Lyapunov函数,从而提出了一种控制方法,减轻了ESO的跟踪负担。为了验证上述方法,针对某一永磁同步电动机系统模型进行相应仿真。仿真结果表明,系统具有良好的跟踪性能和较强的抗干扰能力。该设计方法可行且效果良好。
Permanent magnet synchronous motor(PMSM) is a high-order, multivariable and strongly coupled nonlinear system. There are system uncertainties and external interference in present system. An Extended State Observer(ESO) is constructed by using the proposed method to estimate the uncertain interference in each state variable in real time and realize the dynamic compensation of the system. Meanwhile, this proposed method combines Backstepping with low-order ESO to keep the system stable and reduce the tracking burden of estimator. The simulation results show that the system has good tracking performance, strong anti-interference ability and strong stability. The design method is feasible and effective.
Permanent magnet synchronous motor(PMSM) is a high-order, multivariable and strongly coupled nonlinear system. There are system uncertainties and external interference in present system. An Extended State Observer(ESO) is constructed by using the proposed method to estimate the uncertain interference in each state variable in real time and realize the dynamic compensation of the system. Meanwhile, this proposed method combines Backstepping with low-order ESO to keep the system stable and reduce the tracking burden of estimator. The simulation results show that the system has good tracking performance, strong anti-interference ability and strong stability. The design method is feasible and effective.
引文
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[5]王家军.速度指定位置跟踪双永磁同步电动机的反推控制[J].控制理论与应用,2015,32(2):202-209.
[6]彭云建,韩芳墨,陈炯鸿.具有随机扰动抑制的同步发电机励磁控制器[J].控制理论与应用,2018,35(4):438-446.
[7]刘盼.永磁同步电机位置跟踪系统控制仿真[J].计算机仿真,2017,34(7):302-306.
[8]Jianhui Wang,Houyao Zhu,Chunliang Zhang,et al.Adaptive Hyperbolic Tangent Sliding-mode Control for Building Structural Vibration Systems for Uncertain Earthquakes[J].IEEE Access,2018(06):74728-74736.
[9]陈志翔,高钦和,谭立龙,等.永磁直线同步电机伺服系统鲁棒反步控制器设计[J].控制与应用技术,2017,44(11):32-37.
[10]Wang J.H.,Liu Z.,Chen C.L.P.,et al.Event-triggered Fuzzy Adaptive Compensation Control for Uncertain Stochastic Nonlinear Systems with Given Transient Specification and Actuator Failures[J].Fuzzy Sets and Systems,DOI:10.1016/j.fss.2018.04.013,2018.
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