基于哈密顿系统理论的永磁同步电动机鲁棒控制
|
摘要
永磁同步电机具有高转矩电流比、高功率密度、环境适应性强、高效率、可靠性高等优点,在工业领域中具有广泛应用。但在永磁电机转速控制中存在内部模型摄动和外部干扰,目前广泛采用的双闭环PI控制器不能系统满足系统鲁棒性能的要求。采用现代鲁棒控制理论研究永磁同步电机的高性能控制问题具有重要的理论和实际价值。本文采用哈密顿系统方法,结合永磁同步电机的无源特性,对其鲁棒控制问题进行研究,从系统自身的物理特性出发设计控制器,主要研究内容包括：
(1)考虑永磁同步电动机调速系统存在的模型摄动和外部扰动等不确定性因素,建立系统的不确定动态模型,分析系统的无源特性,完成系统的耗散哈密顿实现。
(2)提出了一种基于哈密顿系统理论的双环路鲁棒控制方法。首先,从系统的物理特性出发将永磁同步电机的动态模型转化为等价的耗散哈密顿系统模型,然后在内环控制中通过结构矩阵和能量函数重构,实现了平衡点的配置和动态性能的改善。最后,在外环控制中根据哈密顿系统理论设计了鲁棒控制器,提高系统对负载扰动的鲁棒性。
本文所提出的基于系统哈密顿实现的鲁棒控制方法充分利用了系统内在的结构特性,控制器结构简单,易于实现。与传统控制方案的仿真比较研究验证了本文所提鲁棒控制器的有效性。
Permanent magnet synchronous motor has the advantage of high torque current ratio, strong environment adaptability, high efficiency, high reliability, high power density, et al. So far, permanent magnet synchronous motor has been widely applied in the industrial fields. During the speed control of permanent magnet motor, there are internal model perturbation and external disturbance, and the widely used double closed loop PI controller cannot meet the requirement of the system robustness. It is significant to utilize the modern robust control theory to improve the dynamic performance of permanent magnet synchronous motors. In this thesis, we use the Hamiltonian system method and the passivity property of the permanent magnet motor to investigate its robust control problem and design a robust controller which can utilize the internal structure of the system. The works done in the thesis can be summarized as follows:
(1) Noting that permanent magnet synchronous motors always suffer to the disturbances of un-modeled dynamic and external world, we put forward an uncertain dynamic model of the system and discussed its passivity property. A dissipative Hamiltonian realization was completed as well.
(2) We put forward a double-loop robust control the permanent magnet synchronous motors based on the Hamiltonian system theory. First, in the inner loop we design a feedback controller to realize the assignment of structure matrix, Hamiltonian function and equilibrium point and to enhance the dynamic performance of the system. Then, we put forward an outer loop robust controller to improve the robustness to external load disturbance.
The robust controller proposed in the thesis can extensively utilize the internal structure of the permanent magnet synchronous motors, so the controller structure is simple and easy to complete. Simulation comparison with the traditional control scheme demonstrates the effectiveness of the proposed robust controller.
(1)考虑永磁同步电动机调速系统存在的模型摄动和外部扰动等不确定性因素,建立系统的不确定动态模型,分析系统的无源特性,完成系统的耗散哈密顿实现。
(2)提出了一种基于哈密顿系统理论的双环路鲁棒控制方法。首先,从系统的物理特性出发将永磁同步电机的动态模型转化为等价的耗散哈密顿系统模型,然后在内环控制中通过结构矩阵和能量函数重构,实现了平衡点的配置和动态性能的改善。最后,在外环控制中根据哈密顿系统理论设计了鲁棒控制器,提高系统对负载扰动的鲁棒性。
本文所提出的基于系统哈密顿实现的鲁棒控制方法充分利用了系统内在的结构特性,控制器结构简单,易于实现。与传统控制方案的仿真比较研究验证了本文所提鲁棒控制器的有效性。
Permanent magnet synchronous motor has the advantage of high torque current ratio, strong environment adaptability, high efficiency, high reliability, high power density, et al. So far, permanent magnet synchronous motor has been widely applied in the industrial fields. During the speed control of permanent magnet motor, there are internal model perturbation and external disturbance, and the widely used double closed loop PI controller cannot meet the requirement of the system robustness. It is significant to utilize the modern robust control theory to improve the dynamic performance of permanent magnet synchronous motors. In this thesis, we use the Hamiltonian system method and the passivity property of the permanent magnet motor to investigate its robust control problem and design a robust controller which can utilize the internal structure of the system. The works done in the thesis can be summarized as follows:
(1) Noting that permanent magnet synchronous motors always suffer to the disturbances of un-modeled dynamic and external world, we put forward an uncertain dynamic model of the system and discussed its passivity property. A dissipative Hamiltonian realization was completed as well.
(2) We put forward a double-loop robust control the permanent magnet synchronous motors based on the Hamiltonian system theory. First, in the inner loop we design a feedback controller to realize the assignment of structure matrix, Hamiltonian function and equilibrium point and to enhance the dynamic performance of the system. Then, we put forward an outer loop robust controller to improve the robustness to external load disturbance.
The robust controller proposed in the thesis can extensively utilize the internal structure of the permanent magnet synchronous motors, so the controller structure is simple and easy to complete. Simulation comparison with the traditional control scheme demonstrates the effectiveness of the proposed robust controller.
引文
[1]郝满江,黄梅.发电机励磁方式及自并励励磁系统[J].东北电力技术,2004,(11)：47-49.
[2]胡文艳.钕铁硼永磁材料的性能及研究进展[J].现代电子技术,2012,(02)：151-152+155.
[3]刘国征,夏宁,赵明静.永磁材料长期稳定性研究进展[J].稀土,2010,(02)：40-44.
[4]孙绪新,周寿增.稀土永磁电机的开发与应用[J].磁性材料及器件,2005,(05)：26-28+39.
[5]刘卫国,解恩.稀土永磁电机在航空上的应用[J].电气技术,2007,(10)：28-30.
[6]黄苏融,马睿,张琪.现代车用无刷永磁电机设计研究[J].微特电机,2006,(02)：5-7.
[7]Nabil A. Ahmed, Modeling and simulation of ac-dc buck-boost converter fed dc motor with uniform PWM technique, Electric Power Systems Research, Volume 73, Issue 3, March 2005, Pages 363-372.
[8]A. El Magri, F. Giri, A. Abouloifa, Robust control of synchronous motor through AC/DC/AC converters, Control Engineering Practice, Volume 18, Issue 5, May 2010, Pages 540-553.
[9]贵献国,徐殿国,宋立伟.机器人关节用永磁交流伺服电机设计新方法[J].微电机(伺服技术),2006,(07)：26-28.
[10]LIU Ping, LIU He-ping, Application of Z-source Inverter for Permanent-magnet Synchronous Motor Drive System for Electric Vehicles, Procedia Engineering, Volume 15, 2011, Pages 309-314.
[11]揭贵生,马伟明.电动汽车永磁同步电机驱动系统的制动研究[J].武汉理工大学学报(交通科学与工程版),2007,(01)：133-136.
[12]孙晓东,朱熀秋,张涛,潘伟,许波.一种永磁同步电机解耦控制的新方法[J].微电机,2010,(01)：61-65.
[13]Jawad Arif, Swakshar Ray, Balarko Chaudhuri, MIMO feedback linearization control for power systems, International Journal of Electrical Power & Energy Systems, Volume 45, Issue 1, February 2013, Pages 87-97.
[14]黄晓航,王雪帆.无刷双馈电机标量控制小信号分析[J].湖北工业大学学报,2010,(02)：40-43.
[15]银英君,林荣文.基于Simulink永磁同步电机矢量控制系统仿真[J].东方电气评论,2010,(02)：55-58.
[16]王春民,嵇艳鞠,栾卉.MATLAB/SIMULINK永磁同步电机矢量控制系统仿真[J].吉林大学学报(信息科学版),2009,(01)：17-22.
[17]韩建群,郑萍.一种用于电动汽车的永磁同步电机直接转矩控制的简化方法[J].电工技术学报,2009,(01):76-80.
[18]H. Ghassemi, S. Vaez-Zadeh, A very fast direct torque control for interior permanent magnet synchronous motors start up, Energy Conversion and Management, Volume 46, Issue 5, March 2005, Pages 715-726
[19]许清媛,杨智,范正平,李晓东.一种非线性观测器和能量结合的反馈控制系统[J].控制理论与应用,2011,(01)：31-36.
[20]Murat Karabacak, H. Ibrahim Eskikurt, Speed and current regulation of a permanent magnet synchronous motor via nonlinear and adaptive backstepping control, Mathematical and Computer Modelling, Volume 53, Issues 9-10, May 2011, Pages 2015-2030
[21]]李鹏飞,严欣平,苏盈盈,周启友.基于永磁同步电机逆系统解耦模糊滑模控制[J].太阳能学报,2011,(04)：565-570.
[22]Jing-Feng Mao, Guo-Qing Wu, Ai-Hua Wu, Nonlinear Decoupling Sliding Mode Control of Permanent Magnet Linear Synchronous Motor Based on a-th Order Inverse System Method, Procedia Engineering, Volume 15,2011, Pages 561-567,
[23]董心壮,张庆灵,郭凯.一类广义非线性系统的无源控制[J].计算技术与自动化,2003,(03)：4-6.
[24]张静,武俊峰,曾蓉.一类未知参数非线性系统的自适应无源控制[J].控制工程,2009,(05)：606-608,613.
[25]Shihua Li, Cunjian Xia, Xuan Zhou, Disturbance rejection control method for permanent magnet synchronous motor speed-regulation system, Mechatronics, Volume 22, Issue 6, September 2012, Pages 706-714.
[26]Dan Wu, Tong Zhao, Ken Chen. Application of active disturbance rejection control to variable spindle speed noncircular turning process, International Journal of Machine Tools and Manufacture, Volume 49, Issue 5, April 2009, Pages 419-423,
[27]Shunli Li, Xu Yang, Di Yang. Active disturbance rejection control for high pointing accuracy and rotation speed, Automatica, Volume 45, Issue 8, August 2009, Pages 1854-1860.
[28]Jianhua Wu, Donglin Pu, Han Ding, Adaptive robust motion control of SISO nonlinear systems with implementation on linear motors, Mechatronics, Volume 17, Issues 4-5, May-June 2007, Pages 263-270.
[29]Lu Lu, Bin Yao, Qingfeng Wang, Adaptive robust control of linear motors with dynamic friction compensation using modified LuGre model, Automatica, Volume 45, Issue 12, December 2009, Pages 2890-2896.
[30]Stefano Bifaretti, Patrizio Tomei, Cristiano Maria Verrelli, A global robust iterative learning position control for current-fed permanent magnet step motors, Automatica, Volume 47, Issue 1, January 2011, Pages 227-234.
[31]Nga Thi-Thuy Vu, Han Ho Choi, Jin-Woo Jung, Certainty equivalence adaptive speed controller for permanent magnet synchronous motor, Mechatronics, Volume 22, Issue 6, September 2012, Pages 811-818.
[32]Suman Maiti, Chandan Chakraborty, Sabyasachi Sengupta, Simulation studies on model reference adaptive controller based speed estimation technique for the vector controlled permanent magnet synchronous motor drive, Simulation Modelling Practice and Theory, Volume 17, Issue 4, April 2009, Pages 585-596.
[33]Z. Hashemi, M. Mardaneh, M. Sha Sadeghi, High performance controller for interior permanent magnet synchronous motor drive using artificial intelligence methods, Scientia Iranica, Volume 19, Issue 6, December 2012, Pages 1788-1793.
[34]Masashi Kato, Active noise control in a duct by an analog neural network circuit, Applied Acoustics, Volume 72, Issue 10, October 2011, Pages 732-736.
[35]Zhang Chunmei, Liu Heping, Chen Shujin, Application of neural networks for permanent magnet synchronous motor direct torque control, Journal of Systems Engineering and Electronics, Volume 19, Issue 3, June 2008, Pages 555-561.
[36]Yajun Guo, Huo Long, Self organizing fuzzy sliding mode controller for the position control of a permanent magnet synchronous motor drive, Ain Shams Engineering Journal, Volume 2, Issue 2, June 2011, Pages 109-118.
[37]董飞垚,雷虎民,曾华,郭丹妮.基于Lyapunov稳定性理论的导弹电动舵机控制算法研究[J].上海航天,2010,(06)：23-25,45.
[38]韦笃取,罗晓曙,方锦清.基于微分几何方法的永磁同步电动机的混沌运动的控制[J].物理学报,2006,(01)：54-59.
[39]Murat Karabacak, H. Ibrahim Eskihurt. Speed and current regulation of a permanent magnet synchronous motor via nonlinear and adaptive backstepping control[J]. Mathematical and Computer Modelling,2011,53:2015-2030
[40]张细致,王耀南.基于滑模观测器的永磁同步电机变结构鲁棒控制[J].控制与决策,2009,24(1)：156-160.
[41]J. Cervera, A.J. van der Schaft, A. Bafios, Interconnection of port-Hamiltonian systems and composition of Dirac structures, Automatica, Volume 43, Issue 2, February 2007, Pages 212-225,
[42]曾云,王煜,张成立.非线性水轮发电机组哈密顿系统研究[J].中国电机工程学报,2008,(29)：88-92.
[43]鲁伟,徐长波,李春文.并联混合有源滤波器哈密顿系统建模及无源控制[J].控制理论与应用,2012,(11)：1397-1402.
[44]Wang Yuzhen, Li Chunwen, Cheng Daizhan. New approaches to generalized Hamiltonian realization of autonomous nonlinear systems. Science in China, Series F.2003, 46(6):431-444.
[45]于海生,王海亮,赵克友.永磁同步电机的哈密顿建模与无源控制[J].电机与控制学报,2006,10(3)：229-233
[46]潘洪俊,强文义,刘宇.哈密顿形式下永磁同步电机的无源控制[J].控制工程,2009,16(5)：647-650,642.
[47]A.Y. Achour; B. Mendil; S. Bacha; passivity-based current controller design for a permanent-magnet synchronous motor, ISA Transactions.2009,48,336-346.
[48]刘进,于海生,魏晓晨.异步电动机的端口受控哈密顿控制与L2增益扰动抑制.电机与控制应用,2010.37(10)：10-15,39.
[49]林立,黄苏融.永磁同步电机系统线性化H∞鲁棒控制.电机与控制学 报,2009,13(4)：541-547,552.
[50]Airong Wei and Yuzhen Wang. Stabilization and H∞ control of nonlinear port-controlled Hamiltonian systems subject to actuator saturation. Automatica,2010,46: 2008-2013.
[51]Robust Speed Tracking of Networked PMSM Servo Systems with Uncertain Delay 2011 Chinese Control and Decision Conference (CCDC).
[52]Yu Rui-wen, Zhang Hui, Tan Guo-jun, Yan De-kun.Design of Robust Controller for PMSM Drivers. International Conference on Electrical and Control Engineering.2010.
[53]阎治安,崔新艺,苏少平.电机学[M].西安交通大学出版社,2007.
[54]王玉振.广义Hamilton控制系统理论[M].科学出版社,2007.
[55]J Zhou, Y Wang. Adaptive backstepping controller design for a permanent magnet synchronous motor[J]. IEE Proc.-Electr. Power Appl.,2002,149(2): 165-172.
[56]Tzann-Shin Lee, Chih-Hong Lin, Faa-Jeng Lin. An adaptive H∞ controller design for permanent magnet synchronous motor drives[J]. Control Engineering Practice,2005,13: 425-439.
[57]Jin Ma and ShengWei Mei. Hamiltonian realization of power system dynamic models and its applications[J]. Science in China Series E: Technological Sciences,2008,51(6): 735-750.
[58]程代展,席在荣,洪奕光,秦化淑.基于能量的受迫哈密顿系统的镇定及在电力系统中的应用(英文)[J].控制理论与应用,2000,(06)：798-802.
[59]Yanhong Liu, Jianyong Li, Qingqing Ding, et al. Energy-based coordinated nonlinear control of synchronous generator and static var compensator [J]. International Journal of Electrical Power and Energy Systems,2012,43:131-140.
[60]裘君,赵光宙,齐冬莲.PMSM的哈密顿反馈耗散增益调度控制[J].控制工程,2010,17(2)：148-153.
[61]侯利民,任志玲,王巍.基于自抗扰控制的永磁同步电机无源调速系统[J].电力电子技术,2011,45(3)：37-39.
[62]杨书生,钟宜生.永磁同步电机转速伺服系统鲁棒控制器设计,中国电机工程报,2009,29(3)：84-90.
[63]Romeo Ortega, A. van der Schaft, B. Maschke, and G. Escobar. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems[J]. Automations,2002,38(4): 585-596.
[2]胡文艳.钕铁硼永磁材料的性能及研究进展[J].现代电子技术,2012,(02)：151-152+155.
[3]刘国征,夏宁,赵明静.永磁材料长期稳定性研究进展[J].稀土,2010,(02)：40-44.
[4]孙绪新,周寿增.稀土永磁电机的开发与应用[J].磁性材料及器件,2005,(05)：26-28+39.
[5]刘卫国,解恩.稀土永磁电机在航空上的应用[J].电气技术,2007,(10)：28-30.
[6]黄苏融,马睿,张琪.现代车用无刷永磁电机设计研究[J].微特电机,2006,(02)：5-7.
[7]Nabil A. Ahmed, Modeling and simulation of ac-dc buck-boost converter fed dc motor with uniform PWM technique, Electric Power Systems Research, Volume 73, Issue 3, March 2005, Pages 363-372.
[8]A. El Magri, F. Giri, A. Abouloifa, Robust control of synchronous motor through AC/DC/AC converters, Control Engineering Practice, Volume 18, Issue 5, May 2010, Pages 540-553.
[9]贵献国,徐殿国,宋立伟.机器人关节用永磁交流伺服电机设计新方法[J].微电机(伺服技术),2006,(07)：26-28.
[10]LIU Ping, LIU He-ping, Application of Z-source Inverter for Permanent-magnet Synchronous Motor Drive System for Electric Vehicles, Procedia Engineering, Volume 15, 2011, Pages 309-314.
[11]揭贵生,马伟明.电动汽车永磁同步电机驱动系统的制动研究[J].武汉理工大学学报(交通科学与工程版),2007,(01)：133-136.
[12]孙晓东,朱熀秋,张涛,潘伟,许波.一种永磁同步电机解耦控制的新方法[J].微电机,2010,(01)：61-65.
[13]Jawad Arif, Swakshar Ray, Balarko Chaudhuri, MIMO feedback linearization control for power systems, International Journal of Electrical Power & Energy Systems, Volume 45, Issue 1, February 2013, Pages 87-97.
[14]黄晓航,王雪帆.无刷双馈电机标量控制小信号分析[J].湖北工业大学学报,2010,(02)：40-43.
[15]银英君,林荣文.基于Simulink永磁同步电机矢量控制系统仿真[J].东方电气评论,2010,(02)：55-58.
[16]王春民,嵇艳鞠,栾卉.MATLAB/SIMULINK永磁同步电机矢量控制系统仿真[J].吉林大学学报(信息科学版),2009,(01)：17-22.
[17]韩建群,郑萍.一种用于电动汽车的永磁同步电机直接转矩控制的简化方法[J].电工技术学报,2009,(01):76-80.
[18]H. Ghassemi, S. Vaez-Zadeh, A very fast direct torque control for interior permanent magnet synchronous motors start up, Energy Conversion and Management, Volume 46, Issue 5, March 2005, Pages 715-726
[19]许清媛,杨智,范正平,李晓东.一种非线性观测器和能量结合的反馈控制系统[J].控制理论与应用,2011,(01)：31-36.
[20]Murat Karabacak, H. Ibrahim Eskikurt, Speed and current regulation of a permanent magnet synchronous motor via nonlinear and adaptive backstepping control, Mathematical and Computer Modelling, Volume 53, Issues 9-10, May 2011, Pages 2015-2030
[21]]李鹏飞,严欣平,苏盈盈,周启友.基于永磁同步电机逆系统解耦模糊滑模控制[J].太阳能学报,2011,(04)：565-570.
[22]Jing-Feng Mao, Guo-Qing Wu, Ai-Hua Wu, Nonlinear Decoupling Sliding Mode Control of Permanent Magnet Linear Synchronous Motor Based on a-th Order Inverse System Method, Procedia Engineering, Volume 15,2011, Pages 561-567,
[23]董心壮,张庆灵,郭凯.一类广义非线性系统的无源控制[J].计算技术与自动化,2003,(03)：4-6.
[24]张静,武俊峰,曾蓉.一类未知参数非线性系统的自适应无源控制[J].控制工程,2009,(05)：606-608,613.
[25]Shihua Li, Cunjian Xia, Xuan Zhou, Disturbance rejection control method for permanent magnet synchronous motor speed-regulation system, Mechatronics, Volume 22, Issue 6, September 2012, Pages 706-714.
[26]Dan Wu, Tong Zhao, Ken Chen. Application of active disturbance rejection control to variable spindle speed noncircular turning process, International Journal of Machine Tools and Manufacture, Volume 49, Issue 5, April 2009, Pages 419-423,
[27]Shunli Li, Xu Yang, Di Yang. Active disturbance rejection control for high pointing accuracy and rotation speed, Automatica, Volume 45, Issue 8, August 2009, Pages 1854-1860.
[28]Jianhua Wu, Donglin Pu, Han Ding, Adaptive robust motion control of SISO nonlinear systems with implementation on linear motors, Mechatronics, Volume 17, Issues 4-5, May-June 2007, Pages 263-270.
[29]Lu Lu, Bin Yao, Qingfeng Wang, Adaptive robust control of linear motors with dynamic friction compensation using modified LuGre model, Automatica, Volume 45, Issue 12, December 2009, Pages 2890-2896.
[30]Stefano Bifaretti, Patrizio Tomei, Cristiano Maria Verrelli, A global robust iterative learning position control for current-fed permanent magnet step motors, Automatica, Volume 47, Issue 1, January 2011, Pages 227-234.
[31]Nga Thi-Thuy Vu, Han Ho Choi, Jin-Woo Jung, Certainty equivalence adaptive speed controller for permanent magnet synchronous motor, Mechatronics, Volume 22, Issue 6, September 2012, Pages 811-818.
[32]Suman Maiti, Chandan Chakraborty, Sabyasachi Sengupta, Simulation studies on model reference adaptive controller based speed estimation technique for the vector controlled permanent magnet synchronous motor drive, Simulation Modelling Practice and Theory, Volume 17, Issue 4, April 2009, Pages 585-596.
[33]Z. Hashemi, M. Mardaneh, M. Sha Sadeghi, High performance controller for interior permanent magnet synchronous motor drive using artificial intelligence methods, Scientia Iranica, Volume 19, Issue 6, December 2012, Pages 1788-1793.
[34]Masashi Kato, Active noise control in a duct by an analog neural network circuit, Applied Acoustics, Volume 72, Issue 10, October 2011, Pages 732-736.
[35]Zhang Chunmei, Liu Heping, Chen Shujin, Application of neural networks for permanent magnet synchronous motor direct torque control, Journal of Systems Engineering and Electronics, Volume 19, Issue 3, June 2008, Pages 555-561.
[36]Yajun Guo, Huo Long, Self organizing fuzzy sliding mode controller for the position control of a permanent magnet synchronous motor drive, Ain Shams Engineering Journal, Volume 2, Issue 2, June 2011, Pages 109-118.
[37]董飞垚,雷虎民,曾华,郭丹妮.基于Lyapunov稳定性理论的导弹电动舵机控制算法研究[J].上海航天,2010,(06)：23-25,45.
[38]韦笃取,罗晓曙,方锦清.基于微分几何方法的永磁同步电动机的混沌运动的控制[J].物理学报,2006,(01)：54-59.
[39]Murat Karabacak, H. Ibrahim Eskihurt. Speed and current regulation of a permanent magnet synchronous motor via nonlinear and adaptive backstepping control[J]. Mathematical and Computer Modelling,2011,53:2015-2030
[40]张细致,王耀南.基于滑模观测器的永磁同步电机变结构鲁棒控制[J].控制与决策,2009,24(1)：156-160.
[41]J. Cervera, A.J. van der Schaft, A. Bafios, Interconnection of port-Hamiltonian systems and composition of Dirac structures, Automatica, Volume 43, Issue 2, February 2007, Pages 212-225,
[42]曾云,王煜,张成立.非线性水轮发电机组哈密顿系统研究[J].中国电机工程学报,2008,(29)：88-92.
[43]鲁伟,徐长波,李春文.并联混合有源滤波器哈密顿系统建模及无源控制[J].控制理论与应用,2012,(11)：1397-1402.
[44]Wang Yuzhen, Li Chunwen, Cheng Daizhan. New approaches to generalized Hamiltonian realization of autonomous nonlinear systems. Science in China, Series F.2003, 46(6):431-444.
[45]于海生,王海亮,赵克友.永磁同步电机的哈密顿建模与无源控制[J].电机与控制学报,2006,10(3)：229-233
[46]潘洪俊,强文义,刘宇.哈密顿形式下永磁同步电机的无源控制[J].控制工程,2009,16(5)：647-650,642.
[47]A.Y. Achour; B. Mendil; S. Bacha; passivity-based current controller design for a permanent-magnet synchronous motor, ISA Transactions.2009,48,336-346.
[48]刘进,于海生,魏晓晨.异步电动机的端口受控哈密顿控制与L2增益扰动抑制.电机与控制应用,2010.37(10)：10-15,39.
[49]林立,黄苏融.永磁同步电机系统线性化H∞鲁棒控制.电机与控制学 报,2009,13(4)：541-547,552.
[50]Airong Wei and Yuzhen Wang. Stabilization and H∞ control of nonlinear port-controlled Hamiltonian systems subject to actuator saturation. Automatica,2010,46: 2008-2013.
[51]Robust Speed Tracking of Networked PMSM Servo Systems with Uncertain Delay 2011 Chinese Control and Decision Conference (CCDC).
[52]Yu Rui-wen, Zhang Hui, Tan Guo-jun, Yan De-kun.Design of Robust Controller for PMSM Drivers. International Conference on Electrical and Control Engineering.2010.
[53]阎治安,崔新艺,苏少平.电机学[M].西安交通大学出版社,2007.
[54]王玉振.广义Hamilton控制系统理论[M].科学出版社,2007.
[55]J Zhou, Y Wang. Adaptive backstepping controller design for a permanent magnet synchronous motor[J]. IEE Proc.-Electr. Power Appl.,2002,149(2): 165-172.
[56]Tzann-Shin Lee, Chih-Hong Lin, Faa-Jeng Lin. An adaptive H∞ controller design for permanent magnet synchronous motor drives[J]. Control Engineering Practice,2005,13: 425-439.
[57]Jin Ma and ShengWei Mei. Hamiltonian realization of power system dynamic models and its applications[J]. Science in China Series E: Technological Sciences,2008,51(6): 735-750.
[58]程代展,席在荣,洪奕光,秦化淑.基于能量的受迫哈密顿系统的镇定及在电力系统中的应用(英文)[J].控制理论与应用,2000,(06)：798-802.
[59]Yanhong Liu, Jianyong Li, Qingqing Ding, et al. Energy-based coordinated nonlinear control of synchronous generator and static var compensator [J]. International Journal of Electrical Power and Energy Systems,2012,43:131-140.
[60]裘君,赵光宙,齐冬莲.PMSM的哈密顿反馈耗散增益调度控制[J].控制工程,2010,17(2)：148-153.
[61]侯利民,任志玲,王巍.基于自抗扰控制的永磁同步电机无源调速系统[J].电力电子技术,2011,45(3)：37-39.
[62]杨书生,钟宜生.永磁同步电机转速伺服系统鲁棒控制器设计,中国电机工程报,2009,29(3)：84-90.
[63]Romeo Ortega, A. van der Schaft, B. Maschke, and G. Escobar. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems[J]. Automations,2002,38(4): 585-596.
© 2004-2018 中国地质图书馆版权所有 京ICP备05064691号 京公网安备11010802017129号 地址：北京市海淀区学院路29号 邮编：100083 电话：办公室：(+86 10)66554848；文献借阅、咨询服务、科技查新：66554700 |