基于内模的圆筒永磁直线电机滑模速度控制
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摘要
为了提高圆筒永磁直线电机(tubular permanent magnet linear motor,TPMLM)在不匹配扰动下的调速性能,提出一种基于内模的滑模速度控制策略。该策略采用内模控制方法(internal model control,IMC)将TPMLM系统变换为1阶惯性系统,进而系统响应速度由IMC调制系数a决定,实现了电机速度快速跟随且无超调,简化了动态性能设计。采用2阶扰动观测器观测系统不匹配扰动,并将其引入滑模面,滑模控制器与扰动观测器相结合,提高系统对不匹配扰动的鲁棒性能;同时将反馈电流引入速度控制,实现了速度、电流的双重闭环控制。仿真和实验结果验证了所提控制策略的有效性。
To improve the speed performances of tubular permanent magnet linear motors(TPMLM) under mismatched disturbances, a novel sliding mode control based on the internal model(IM-SMC) strategy was proposed. The internal model controller was used to transform the TPMLM drive system into a first-order inertial system. Hence the performance of quick response without overshoot was achieved. The system dynamic response time is directly determined by the adjustable parameter a. Therefore, the dynamic performance becomes easy to design. A second-order observer was used to estimate the mismatched disturbance, and then the estimate value was introduced into the design of the sliding mode surface.Combined with the observer, the TPMLM system can be robust to mismatched and matched disturbances. The feed-back current was adopted in the design of the speed controller. Thus,the speed and current can be both controlled by only one controller. The effectiveness of the proposed strategy was verified by the simulated and experimental results.
To improve the speed performances of tubular permanent magnet linear motors(TPMLM) under mismatched disturbances, a novel sliding mode control based on the internal model(IM-SMC) strategy was proposed. The internal model controller was used to transform the TPMLM drive system into a first-order inertial system. Hence the performance of quick response without overshoot was achieved. The system dynamic response time is directly determined by the adjustable parameter a. Therefore, the dynamic performance becomes easy to design. A second-order observer was used to estimate the mismatched disturbance, and then the estimate value was introduced into the design of the sliding mode surface.Combined with the observer, the TPMLM system can be robust to mismatched and matched disturbances. The feed-back current was adopted in the design of the speed controller. Thus,the speed and current can be both controlled by only one controller. The effectiveness of the proposed strategy was verified by the simulated and experimental results.
引文
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[21]Yang J,Su J Y,Li S H,et al.High-order mismatched disturbance compensation for motion control systems via a continuous dynamic sliding-mode approach[J].IEEETransactions on Industrial Informatics,2014,10(1):604-614.
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[2]Sun W C,Pan H H,Gao H J.Filter-based adaptive vibration control for active vehicle suspensions with electrohydraulic actuators[J].IEEE Transactions on Vehicular Technology,2016,65(6):4619-4626.
[3]Asadi E,Ribeiro R,Khamesee M B,et al.Analysis,prototyping,and experimental characterization of an adaptive hybrid electromagnetic damper for automotive suspension systems[J].IEEE Transactions on Vehicular Technology,2017,66(5):3703-3713.
[4]Tian X,Du H P,Sun S H,et al.Takagi-sugeno fuzzy control for semi-active vehicle suspension with a magnetorheological damper and experimental validation[J].IEEE/ASME Transactions on Mechatronics,2017,22(1):291-300.
[5]Lin J K,Cheng K W E,Zhang Z,et al.Adaptive sliding mode technique-based electromagnetic suspension system with linear switched reluctance actuator[J].IET Electric Power Applications,2015,9(1):50-59.
[6]Zhou H W,Lu Z,Zhao W X,et al.Design and analysis of low-cost tubular fault-tolerant interior permanentmagnet motor[J].IEEE Transactions on Magnetics,2016,52(7):8104804.
[7]Wang J B,Wang W Y,Atallah K A linear permanentmagnet motor for active vehicle suspension[J].IEEETransactions on Vehicular Technology,2011,60(1):55-63.
[8]Wang J X,Li S H,Yang J,et al.Extended state observer-based sliding mode control for PWM-based DC-DC buck power converter systems with mismatched disturbances[J].IET Control Theory and Applications,2015,9(4):579-586.
[9]丁有爽,肖曦.基于极点配置的永磁同步电机驱动柔性负载PI调节器参数确定方法[J].中国电机工程学报,2017,37(4):1225-1238.Ding Youshuang,Xiao Xi.Parameter tuning methods based on pole placement for PI controllers of flexible loads driven by PMSM[J].Proceedings of the CSEE,2017,37(4):1225-1238(in Chinese).
[10]杨淑英,丁大尉,李曦,等.基于新型转子磁链观测器的异步电机转矩闭环矢量控制[J].中国电机工程学报,2017,37(11):3298-3306.Yang Shuying,Ding Dawei,Li Xi,et al.A novel rotor-flux observer based closed-loop control on induction motor torque with vector orientation[J].Proceedings of the CSEE,2017,37(11):3298-3306(in Chinese).
[11]吴为,丁信忠,严彩忠.基于复矢量的电流环解耦控制方法研究[J].中国电机工程学报,2017,37(14):4184-4191.Wu Wei,Ding Xinzhong,Yan Caizhong.Research on control method of current loop decoupling based on complex vector[J].Proceedings of the CSEE,2017,37(14):4184-4191(in Chinese).
[12]刘英培,栗然,梁海平.基于最小二乘支持向量机优化自抗扰控制器的永磁同步电机直接转矩控制方法[J].中国电机工程学报,2014,34(27):4654-4664.Liu Yingpei,Li Ran,Liang Haiping.Direct torque control for permanent magnet synchronous motor based on active-disturbance rejection control optimized by least squares support vector machines[J].Proceedings of the CSEE,2014,34(27):4654-4664(in Chinese).
[13]左月飞,张捷,刘闯,等.基于自抗扰控制的永磁同步电机位置伺服系统一体化设计[J].电工技术学报,2016,31(11):51-58.Zuo Yuefei,Zhang Jie,Liu Chuang,et al.Integrated design for permanent magnet synchronous motor servo systems based on active disturbance rejection control[J].Transactions of China Electrotechnical Society,2016,31(11):77-81(in Chinese).
[14]孙强,张为堂.磁通切换永磁电机模糊自适应PI控制策略[J].中国电机工程学报,2017,37(22):6611-6618.Su Qiang,Zhang Weitang.An Adaptive-fuzzy PI control strategy for flux-switching permanent magnet motors[J].Proceedings of the CSEE,2017,37(22):6611-6618(in Chinese).
[15]耿艺文,鲍宇,王昊,等.六相感应电机直接转矩及容错控制[J].中国电机工程学报,2016,36(21):5947-5956.Geng Yiwen,Bao Yu,Wang Hao,et al.Direct torque and fault tolerant control for six-phase induction motor[J].Proceedings of the CSEE,2016,36(21):5947-5956(in Chinese).
[16]孔武斌,黄进,曲荣海,等.带转子参数辨识的五相感应电动机无速度传感器控制策略研究[J].中国电机工程学报,2016,36(2):532-539.Kong Wubin,Huang Jin,Qu Ronghai,et al.Research on speed sensorless control strategies for five-phase induction motors with rotor parameter identification[J].Proceedings of the CSEE,2016,36(2):532-539(in Chinese).
[17]赵希梅,赵久威.永磁直线同步电机的互补滑模变结构控制[J].中国电机工程学报,2015,35(10):2552-2557.Zhao Ximei,Zhao Jiuwei.Complementary sliding mode variable structure control for permanent magnet linear synchronous motor[J].Proceedings of the CSEE,2015,35(10):2552-2557(in Chinese).
[18]Zhang J H,Liu X W,Xia Y Q,et al.Disturbance observer-based integral sliding-mode control for system with mismatched disturbances[J].IEEE Transactions on Industrial Electronics,2016,63(11):7040-7048.
[19]Yang J,Li S H,Yu X H.Sliding-mode control for systems with mismatched uncertainties via a disturbance observer[J].IEEE Transactions on Industrial Electronics,2013,60(1):160-169.
[20]Wang J X,Li S H,Yang J,et al.Finite-time disturbance observer based non-singular terminal sliding-mode control for pulse width modulation based DC-DC buck converters with mismatched load disturbances[J].IET Power Electronics,2016,9(9):1995-2002.
[21]Yang J,Su J Y,Li S H,et al.High-order mismatched disturbance compensation for motion control systems via a continuous dynamic sliding-mode approach[J].IEEETransactions on Industrial Informatics,2014,10(1):604-614.
[22]Ginoya D,Shendge P D,Phadke S B.Sliding mode control for mismatched uncertain systems using an extended disturbance observer[J].IEEE Transactions on Industrial Electronics,2014,61(4):1983-1992.
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