永磁同步电机传动系统的几类非线性控制策略研究及其调速系统的实现
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摘要
以永磁同步电机为执行电机,采用高性能控制策略的控制系统目前已成为电气传动控制系统的一个主流发展方向。永磁同步电机是一个多变量、非线性、时变被控对象,控制系统受电机参数变化、外部负载扰动、对象未建模和非线性动态等不确定性的影响,要获得高性能的永磁同步电机控制系统,必须研究先进的控制策略以解决这些不确定性的影响。近年来,国内外学者围绕如何提高其控制系统的性能、降低成本等问题上,采用了一些先进的非线性控制策略进行了大量的研究和实践,取得了较为丰富的成果。然而对于永磁同步电机控制系统来说,单一先进的非线性方法只能针对某一类问题有效,不能普遍适用。因此,寻求有效的永磁同步电机综合非线性控制方法成为本论文的主要研究内容。论文依托国家高技术研究发展计划(863计划)重点项目资助的《电气传动及控制系统节能技术的研发》(课题编号：2006AA04Z183),对永磁同步电机控制系统的速度控制、位置控制问题以及转子位置自检测问题进行了研究,立足获得具有适应性、可靠性、抗干扰能力和鲁棒性较强的高性能永磁同步电机控制系统。
具体工作如下：
1、针对无源控制方法使控制器设计简单和系统稳定性分析更加容易的特点,从能量角度分析永磁同步电机的控制器设计,采用互联、阻尼配置的无源性控制方法,提出了一种新颖的基于端口受控耗散哈密顿(PCHD)方法的永磁同步电机无源滑模控制系统,其速度外环由滑模速度控制器实现,电流内环由无源控制器实现,利用一种滑模观测器估计速度。通过仿真验证了策略的有效性。
2、为了解决滑模控制存在的抖振问题和在系统稳定性的基础上增强鲁棒性问题,提出了带速度估计的自适应模糊滑模软切换的永磁同步电机鲁棒无源控制方法。该方法利用双曲正切函数代替符号函数设计了自适应模糊滑模软切换速度控制器,实现了软切换连续控制,削弱了滑模控制存在的抖振现象,通过设计鲁棒无源电流控制器,在系统稳定性的基础上增强了鲁棒性,采用自适应滑模观测器进行速度和转子位置的估计。通过仿真验证了策略的有效性。
3、为了对速度控制系统未知状态和不确定干扰项的实时作用量进行估计并实现前馈补偿,进一步提高系统的抗扰能力,提出了两种新颖的带有扩张状态观测器的永磁同步电机速度控制方法。一种方法是针对滑模变结构控制要求整个系统的摄动必须在一定范围内,而且这个范围与整体控制效果相互制约的这一问题,提出了带扩张状态观测器补偿的自适应滑模调节的永磁同步电机自抗扰-无源控制方法,其速度环采用一种自适应滑模控制器,利用扩张状态观测器观测系统的干扰,并进行前馈补偿,电流环采用了以无源控制为基础,自抗扰控制技术为辅的融合控制策略。另一种方法是从基于解耦模型控制策略的逆系统方法对变化很快的外部扰动抑制效果不理想的角度出发,借助于扩张状态观测器的优势,构建了带扩张状态观测器补偿的自适应逆系统综合控制器,有效的实现了电流与转速解耦控制。通过仿真验证了两种策略的有效性。
4、针对永磁同步电机位置控制系统追求定位的快速性、准确性和无超调的目标要求,按照双环结构的理念设计了三环位置控制系统,采用一阶系统的自抗扰控制策略构成位置外环控制器,采用自适应反步法构成速度环、电流环控制器的三环系统,增强了系统的鲁棒性,保证了速度控制精度。针对三环位置控制系统,通过仿真验证控制策略的有效性。
5、针对全速度范围内转子位置自检测问题,提出了一种将脉振高频电压信号注入法和模型参考自适应法有机结合的新型无速度传感器的复合方法,进而分别设计了永磁同步电机无速度传感器的SVPWM调制的id=0矢量控制系统和最优转矩控制系统。通过设计速度切换方案,实现了速度的平稳过渡。此复合方法解决了单一方法不能在全速度范围内同时兼顾良好的动态、稳态性能的问题。通过仿真验证了两种策略的有效性。
6、依托国家高技术研究发展计划(863计划)资助的项目,搭建了22kW永磁同步电机id=0矢量控制调速系统的实验平台,重点对网络化的综合自动化测试单元进行了介绍。通过实验验证了系统的性能指标达到了目标要求。
The control system which uses permanent magnet synchronous motor (PMSM) and adopts high-performance control strategy has now become a trend of electric drive control system. However, PMSM is a nonlinear, time varying and multiple variables object, and the control system is often influenced by uncertainties which are induced by parameter variations, external load disturbances, unmodelled plants and nonlinear dynamics. In order to obtain PMSM control system with high performance, advanced control schemes have to be developed to deal with these uncertainties. Recently, how to enhance control system performance and reduce costs have been studied, some advanced nonlinear control strategies have been proposed and new results are obtained correspondingly. However, for PMSM control system, a single nonlinear method is only applicable to solving a certain problem. Therefore, the major research topic of this dissertation is to seek a valid integrated nonlinear control technique for PMSM control system. This dissertation relies on the Research of Energy Saving Technology of Electrical Driven and Control System (Project NO. is2006AA04Z183), which is supported by National High Technology Development Plan. In this dissertation, speed control, position control, as well as sensorless control schemes of PMSM control system have been studied in details. The aim of this dissertation is to construct PMSM control system with good flexibility, reliability, and robustness.
The main research work is as follows:
1. The passive-based control method could simplify controller design and make system stability analysis easier, controller is designed from the energy point of view. By considering such characteristics and adopting interconnection and damping assignment passivity-based control method, a novel passive-based sliding mode control method is proposed for the speed sensorless control system of surface permanent magnet synchronous motor(SPMSM) based on the port-controlled Hamiltonian system with dissipation(PCHD). The sliding mode controller is adopted for outer loop control, while in the inner loop, passivity-based control is adopted, a sliding mode observer is adopted to estimate the speed. The simulation results illustrate the effectiveness of the proposed strategies.
2. In order to solve the chattering problem in sliding mode control and improve robustness while ensuring stability of systems, a novel adaptive fuzzy sliding mode soft switch controller for PMSM by using robust Passivity-based control method is proposed based on speed calculated. The adaptive fuzzy sliding mode soft switch controller is designed by using sgn(x) function instead of tanh(x) function, which achieves the soft switch control and reduces chatting. A robust passivity-based control algorithm is constructed based on the passivity-based control principle, and the robustness is improved correspondingly. An adaptive sliding mode observer is established and a speed identification law is proposed. The simulation results verified the effectiveness of the strategies.
3. In order to estimate the real-time values of unknown state and uncertain interference item for the speed control system, and achieve feed-forward compensation to improve the anti-disturbance ability of the speed control system, two novel PMSM speed control methods by using the integrated nonlinear approach with extended state observer are proposed. For the sliding mode control, the entire system perturbations must be within a certain range which is combined with the overall control effect. One method is to design an adaptive sliding mode control strategy based on ESO compensation, whose speed loop adopts a adaptive sliding mode controller, and ESO is used to observe system interference and makes feed-forward compensation, current loop adopts the integration control strategy which is supplemented by the passive control based on auto-disturbance rejection control technology. Because inverse control system isn't satisfied with the fast changing external disturbance rejection, another method is to build complex adaptive inverse integrated controller based on ESO compensation, which implements the current and speed decoupling control effectively. The simulation verified the effectiveness of two strategies.
4. To ensure rapidity, accuracy, non-overshoot for the PMSM position control system, the three-loop position control system is designed in accordance with the dual-loop system. The active disturbance rejection control strategy of first-order system is adopted to construct a position of outer loop, and the adaptive back stepping method is used to construct the three loop system of velocity loop and current loop. The robustness is improved and the accuracy of speed control is ensured. For the three loop position servo system, simulation is given to show the effectiveness of the proposed control strategies.
5. To solve the rotor position self-sensing, a novel method is put forward by combining the fluctuating high frequency voltage signal injection method (FHFVS) and model reference adaptive system method(MRAS), which is used in the SVPWM id=0vector control system and optimal torque control system. The speed-switcher is designed to realize smooth switching between two methods. The presented method can guarantee satisfactory balance between steady and dynamic states, which cannot be obtained by each of the methods. Simulations verified the effectiveness of two strategies.
6. Based on the Research of Energy Saving Technology of Electrical Driven and Control System, the id=0vector control speed system experimental platform with22kW permanent magnet synchronous motor has been set up. The network-based integrated automated test unit is introduced. Experiments show that the performance index of system can be achieved.
具体工作如下：
1、针对无源控制方法使控制器设计简单和系统稳定性分析更加容易的特点,从能量角度分析永磁同步电机的控制器设计,采用互联、阻尼配置的无源性控制方法,提出了一种新颖的基于端口受控耗散哈密顿(PCHD)方法的永磁同步电机无源滑模控制系统,其速度外环由滑模速度控制器实现,电流内环由无源控制器实现,利用一种滑模观测器估计速度。通过仿真验证了策略的有效性。
2、为了解决滑模控制存在的抖振问题和在系统稳定性的基础上增强鲁棒性问题,提出了带速度估计的自适应模糊滑模软切换的永磁同步电机鲁棒无源控制方法。该方法利用双曲正切函数代替符号函数设计了自适应模糊滑模软切换速度控制器,实现了软切换连续控制,削弱了滑模控制存在的抖振现象,通过设计鲁棒无源电流控制器,在系统稳定性的基础上增强了鲁棒性,采用自适应滑模观测器进行速度和转子位置的估计。通过仿真验证了策略的有效性。
3、为了对速度控制系统未知状态和不确定干扰项的实时作用量进行估计并实现前馈补偿,进一步提高系统的抗扰能力,提出了两种新颖的带有扩张状态观测器的永磁同步电机速度控制方法。一种方法是针对滑模变结构控制要求整个系统的摄动必须在一定范围内,而且这个范围与整体控制效果相互制约的这一问题,提出了带扩张状态观测器补偿的自适应滑模调节的永磁同步电机自抗扰-无源控制方法,其速度环采用一种自适应滑模控制器,利用扩张状态观测器观测系统的干扰,并进行前馈补偿,电流环采用了以无源控制为基础,自抗扰控制技术为辅的融合控制策略。另一种方法是从基于解耦模型控制策略的逆系统方法对变化很快的外部扰动抑制效果不理想的角度出发,借助于扩张状态观测器的优势,构建了带扩张状态观测器补偿的自适应逆系统综合控制器,有效的实现了电流与转速解耦控制。通过仿真验证了两种策略的有效性。
4、针对永磁同步电机位置控制系统追求定位的快速性、准确性和无超调的目标要求,按照双环结构的理念设计了三环位置控制系统,采用一阶系统的自抗扰控制策略构成位置外环控制器,采用自适应反步法构成速度环、电流环控制器的三环系统,增强了系统的鲁棒性,保证了速度控制精度。针对三环位置控制系统,通过仿真验证控制策略的有效性。
5、针对全速度范围内转子位置自检测问题,提出了一种将脉振高频电压信号注入法和模型参考自适应法有机结合的新型无速度传感器的复合方法,进而分别设计了永磁同步电机无速度传感器的SVPWM调制的id=0矢量控制系统和最优转矩控制系统。通过设计速度切换方案,实现了速度的平稳过渡。此复合方法解决了单一方法不能在全速度范围内同时兼顾良好的动态、稳态性能的问题。通过仿真验证了两种策略的有效性。
6、依托国家高技术研究发展计划(863计划)资助的项目,搭建了22kW永磁同步电机id=0矢量控制调速系统的实验平台,重点对网络化的综合自动化测试单元进行了介绍。通过实验验证了系统的性能指标达到了目标要求。
The control system which uses permanent magnet synchronous motor (PMSM) and adopts high-performance control strategy has now become a trend of electric drive control system. However, PMSM is a nonlinear, time varying and multiple variables object, and the control system is often influenced by uncertainties which are induced by parameter variations, external load disturbances, unmodelled plants and nonlinear dynamics. In order to obtain PMSM control system with high performance, advanced control schemes have to be developed to deal with these uncertainties. Recently, how to enhance control system performance and reduce costs have been studied, some advanced nonlinear control strategies have been proposed and new results are obtained correspondingly. However, for PMSM control system, a single nonlinear method is only applicable to solving a certain problem. Therefore, the major research topic of this dissertation is to seek a valid integrated nonlinear control technique for PMSM control system. This dissertation relies on the Research of Energy Saving Technology of Electrical Driven and Control System (Project NO. is2006AA04Z183), which is supported by National High Technology Development Plan. In this dissertation, speed control, position control, as well as sensorless control schemes of PMSM control system have been studied in details. The aim of this dissertation is to construct PMSM control system with good flexibility, reliability, and robustness.
The main research work is as follows:
1. The passive-based control method could simplify controller design and make system stability analysis easier, controller is designed from the energy point of view. By considering such characteristics and adopting interconnection and damping assignment passivity-based control method, a novel passive-based sliding mode control method is proposed for the speed sensorless control system of surface permanent magnet synchronous motor(SPMSM) based on the port-controlled Hamiltonian system with dissipation(PCHD). The sliding mode controller is adopted for outer loop control, while in the inner loop, passivity-based control is adopted, a sliding mode observer is adopted to estimate the speed. The simulation results illustrate the effectiveness of the proposed strategies.
2. In order to solve the chattering problem in sliding mode control and improve robustness while ensuring stability of systems, a novel adaptive fuzzy sliding mode soft switch controller for PMSM by using robust Passivity-based control method is proposed based on speed calculated. The adaptive fuzzy sliding mode soft switch controller is designed by using sgn(x) function instead of tanh(x) function, which achieves the soft switch control and reduces chatting. A robust passivity-based control algorithm is constructed based on the passivity-based control principle, and the robustness is improved correspondingly. An adaptive sliding mode observer is established and a speed identification law is proposed. The simulation results verified the effectiveness of the strategies.
3. In order to estimate the real-time values of unknown state and uncertain interference item for the speed control system, and achieve feed-forward compensation to improve the anti-disturbance ability of the speed control system, two novel PMSM speed control methods by using the integrated nonlinear approach with extended state observer are proposed. For the sliding mode control, the entire system perturbations must be within a certain range which is combined with the overall control effect. One method is to design an adaptive sliding mode control strategy based on ESO compensation, whose speed loop adopts a adaptive sliding mode controller, and ESO is used to observe system interference and makes feed-forward compensation, current loop adopts the integration control strategy which is supplemented by the passive control based on auto-disturbance rejection control technology. Because inverse control system isn't satisfied with the fast changing external disturbance rejection, another method is to build complex adaptive inverse integrated controller based on ESO compensation, which implements the current and speed decoupling control effectively. The simulation verified the effectiveness of two strategies.
4. To ensure rapidity, accuracy, non-overshoot for the PMSM position control system, the three-loop position control system is designed in accordance with the dual-loop system. The active disturbance rejection control strategy of first-order system is adopted to construct a position of outer loop, and the adaptive back stepping method is used to construct the three loop system of velocity loop and current loop. The robustness is improved and the accuracy of speed control is ensured. For the three loop position servo system, simulation is given to show the effectiveness of the proposed control strategies.
5. To solve the rotor position self-sensing, a novel method is put forward by combining the fluctuating high frequency voltage signal injection method (FHFVS) and model reference adaptive system method(MRAS), which is used in the SVPWM id=0vector control system and optimal torque control system. The speed-switcher is designed to realize smooth switching between two methods. The presented method can guarantee satisfactory balance between steady and dynamic states, which cannot be obtained by each of the methods. Simulations verified the effectiveness of two strategies.
6. Based on the Research of Energy Saving Technology of Electrical Driven and Control System, the id=0vector control speed system experimental platform with22kW permanent magnet synchronous motor has been set up. The network-based integrated automated test unit is introduced. Experiments show that the performance index of system can be achieved.
引文
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