基于现代控制理论的永磁同步电机控制研究
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摘要
永磁同步电动机具有体积小、重量轻；结构简单，运行可靠；损耗小，效率高等优点。目前，永磁电机已经广泛应用于航空、国防、制造业以及日常生活的各个领域。但是，永磁同步电机的数学模型具有非线性、强耦合的特点，实现电机的高性能控制十分困难。为了提高永磁同步电机的控制性能，实现电机的高性能控制，本文做了一些相关的工作。
提出了一种三相电压型PWM整流器反步控制策略。通过对虚拟反馈控制和Lyapunov函数的构造，使得系统的每个状态分量都具有一定的渐进性，进而实现整个系统的全局渐进稳定。通过仿真证明了反步控制策略比传统的PI控制拥有更好的控制性能，该结果也通过实验进行了进一步验证。
提出了一种基于ICPSO算法的永磁同步电机H_2/H_∞混合控制策略。首先在传统CPSO算法的基础上，将种群的全局次优引入算法的更新公式，得到了改进的ICPSO算法。然后，通过混合灵敏度方法以及ICPSO算法求取拥有最优H_2/H_∞混合性能指标的控制器，从而实现永磁同步电机的H_2/H_∞混合控制。通过仿真证明了H_2/H_∞混合控制策略比传统的PI控制拥有更好的控制性能，该结果也通过实验进行了进一步验证。
提出了一种基于微分几何方法的永磁同步电机反馈线性化控制策略。根据反馈线性化的原理，对永磁同步电机系统进行了坐标变换和状态反馈，实现了系统的线性化。对线性化后的系统采用线性鲁棒方法设计了控制器。最后通过永磁同步电机在低速及高速两种工况下的仿真和实验证明了反馈线性化控制策略较之PI控制和H_2/H_∞混合控制均具有更好的控制效果和抗负载扰动性能。
提出了一种基于差分卡尔曼滤波(CDKF)的永磁同步电机无传感器控制方法。差分卡尔曼滤波采用Stirling插值对系统方程进行近似，能够达到二阶精度。本文将CDKF方法用于永磁同步电机转速和位置的估计，仿真和实验结果证明了采用CDKF实现永磁同步电机无传感器控制，转速和角度估计精度都高于传统的扩展卡尔曼滤波(EKF)方法，系统无传感器控制效果良好。
The permanent magnetic synchronous motors (PMSM) have aroused extensive attention and are widely used for the advantages such as small volume, light weight, simple structure, high reliability, low power consumption and high efficiency. PMSM drivers could be found in aviation, national defense, manufacturing and our daily life. However, because of the strong coupling and nonlinear characteristics of PMSM, high performance control of PMSM is very difficult to realize. Therefore, this paper makes some efforts in order to improve the performance of PMSM system.
This paper proposes a backstepping control method for the three-phase voltage source PWM rectifier firstly. Then a mixed H2/H∞robust controller is designed for the PMSM control system which based on an improved chaotic particle swarm algorithm (ICPSO). And a feedback linearization control strategy is given in the next section. Simulation and experiment indicate that the mixed H2/H∞robust controller performances better than the PI controller. And the feedback linearization control method has the best control ability compared with the2controllers above. Finally, the central differential Kalman filter (CDKF) is applied for the sensorless control of PMSM system. Simulation and experiment indicate that the CDKF has better performance than traditional EKF method.
提出了一种三相电压型PWM整流器反步控制策略。通过对虚拟反馈控制和Lyapunov函数的构造，使得系统的每个状态分量都具有一定的渐进性，进而实现整个系统的全局渐进稳定。通过仿真证明了反步控制策略比传统的PI控制拥有更好的控制性能，该结果也通过实验进行了进一步验证。
提出了一种基于ICPSO算法的永磁同步电机H_2/H_∞混合控制策略。首先在传统CPSO算法的基础上，将种群的全局次优引入算法的更新公式，得到了改进的ICPSO算法。然后，通过混合灵敏度方法以及ICPSO算法求取拥有最优H_2/H_∞混合性能指标的控制器，从而实现永磁同步电机的H_2/H_∞混合控制。通过仿真证明了H_2/H_∞混合控制策略比传统的PI控制拥有更好的控制性能，该结果也通过实验进行了进一步验证。
提出了一种基于微分几何方法的永磁同步电机反馈线性化控制策略。根据反馈线性化的原理，对永磁同步电机系统进行了坐标变换和状态反馈，实现了系统的线性化。对线性化后的系统采用线性鲁棒方法设计了控制器。最后通过永磁同步电机在低速及高速两种工况下的仿真和实验证明了反馈线性化控制策略较之PI控制和H_2/H_∞混合控制均具有更好的控制效果和抗负载扰动性能。
提出了一种基于差分卡尔曼滤波(CDKF)的永磁同步电机无传感器控制方法。差分卡尔曼滤波采用Stirling插值对系统方程进行近似，能够达到二阶精度。本文将CDKF方法用于永磁同步电机转速和位置的估计，仿真和实验结果证明了采用CDKF实现永磁同步电机无传感器控制，转速和角度估计精度都高于传统的扩展卡尔曼滤波(EKF)方法，系统无传感器控制效果良好。
The permanent magnetic synchronous motors (PMSM) have aroused extensive attention and are widely used for the advantages such as small volume, light weight, simple structure, high reliability, low power consumption and high efficiency. PMSM drivers could be found in aviation, national defense, manufacturing and our daily life. However, because of the strong coupling and nonlinear characteristics of PMSM, high performance control of PMSM is very difficult to realize. Therefore, this paper makes some efforts in order to improve the performance of PMSM system.
This paper proposes a backstepping control method for the three-phase voltage source PWM rectifier firstly. Then a mixed H2/H∞robust controller is designed for the PMSM control system which based on an improved chaotic particle swarm algorithm (ICPSO). And a feedback linearization control strategy is given in the next section. Simulation and experiment indicate that the mixed H2/H∞robust controller performances better than the PI controller. And the feedback linearization control method has the best control ability compared with the2controllers above. Finally, the central differential Kalman filter (CDKF) is applied for the sensorless control of PMSM system. Simulation and experiment indicate that the CDKF has better performance than traditional EKF method.
引文
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