基于先进控制方法的永磁同步电机性能优化
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摘要
在实际应用中,对永磁同步电机控制精度的要求越来越高。尤其是在机器人、航空航天、精密电子仪器等对电机性能要求较高的领域,系统的快速性、稳定性和鲁棒性能好坏成为决定永磁同步电机性能优劣的重要指标。传统电机系统通常采用PID控制,其本质上是一种线性控制,若被控对象具有非线性特性或有参变量发生变化,会使得线性常参数的PID控制器无法保持设计时的性能指标;在确定PID参数的过程中,参数整定值是具有一定局域性的优化值,并不是全局最优值。实际电机系统具有非线性、参数时变及建模过程复杂等特点,因此常规PID控制难以从根本上解决动态品质与稳态精度的矛盾。
永磁同步电机是典型的多变量、参数时变的非线性控制对象。先进控制方法(诸如智能控制、优化算法等)研究应用的发展与深入,为控制复杂的永磁同步电机系统开辟了崭新的途径。由于先进控制方法摆脱了对控制对象模型的依赖,能够在处理不精确性和不确定性问题中有可处理性、鲁棒性,因而将其引入永磁同步电机控制已成为一个必然的趋势。本文根据系统实现目标的不同,选取相应的先进控制方法,并与PID控制相结合,对永磁同步电机各方面性能进行有针对性的优化,最终使其控制精度得到显著的提高。为达到对永磁同步电机进行性能优化的研究目的,文中首先探讨了正弦波永磁同步电机和方波永磁同步电机的运行特点及控制机理,通过建立数学模型,对相应的控制系统进行了整体分析。针对永磁同步电机非线性、强耦合的特点,设计了矢量控制方式下的永磁同步电机闭环反馈控制系统。结合常规PID控制,将模糊控制、遗传算法、神经网络和人工免疫等多种先进控制方法应用于永磁同步电机调速系统、伺服系统和同步传动系统的控制器设计中,以满足不同控制系统对电机动、静态性能的要求以及对调速性能或跟随性能的侧重。实验结果表明,采用先进控制方法的永磁同步电机具有较好的动态性能、抗扰动能力以及较强的鲁棒性能;与传统PID控制相比,系统的控制精度得到了明显提高。研究结果验证了先进控制方法应用于永磁同步电机性能优化的有效性和实用性。
In practical application, the request to control precision of permanent-magnet synchronous-motor (PMSM) is getting higher and higher. Especially in some domains with higher motor performance requirements such as robot, aerospace, precise electronic instrumentation and so on, the rapidity, stability and robustness of system have been important targets that determining PMSM performance. Traditional motor systems usually depend on PID control, which is a kind of linear control in essence. If a plant has nonlinear behaviors or varying parameters, the PID controller with constant parameters is unable to maintain the initial performance index. In the process of tunning PID parameters, the defined parameter values are not global but partial optimums. The actual motor system has many characteristics such as non-linearity, parameter time-variability and complex in modelling et al, therefore a normal PID controller is difficult to resolve the contradiction between dynamic quality and static precision fundamentally.
The study and application of advanced control strategies (intelligent control, optimization algorithm, etc.) have opened a new door for controlling complex PMSM systems. Advanced control strategies not only can get rid to the dependence on models of plants, but also have processing ability and robustness in processing inaccuracy and uncertainty questions, thus it’s an inevitable tendency to introduce advanced control strategies into PMSM control. According to different goal-realizing systems, responding advanced control strategies are chosen and combined to PID controllers, which will make the PMSM performances in various aspects have pointed optimization, and enable its control precision to obtain remarkable enhancement finally. To guarantee the research goal in performance optimization for PMSM, which has typical dynamic, time-variable and nonlinear characters, this paper is to study a problem about the work characteristics and control mechanisms of sine-wave and square-wave PMSM firstly. By the building of mathematical models, the overall analysis will be carried on to corresponding control system. Aiming at the nonlinearity and highly coupling of PMSM, closed-loop systems with feedback loops are going to be design on the way of vector-control. Combined with normal PID control, several kinds of advanced control strategies, such as fuzzy control, neural network, genetic algorithm, artificial immune algorithm and so on, are applied to controller design for PMSM speed systems, servo systems and synchronous-drive systems so as to satisfy the requests of different control systems on motor dynamic and static performance and follow the stress on speed-regulating or track behavior. Experimental results demonstrate that, compared with traditional PID control, the advanced control strategies bring better dynamic performance, anti-disturbance ability and stronger robustness to PMSM and enhance control precision in its system distinctly. The findings confirmed that advanced control strategies are effective and feasible on performance optimization for PMSM.
永磁同步电机是典型的多变量、参数时变的非线性控制对象。先进控制方法(诸如智能控制、优化算法等)研究应用的发展与深入,为控制复杂的永磁同步电机系统开辟了崭新的途径。由于先进控制方法摆脱了对控制对象模型的依赖,能够在处理不精确性和不确定性问题中有可处理性、鲁棒性,因而将其引入永磁同步电机控制已成为一个必然的趋势。本文根据系统实现目标的不同,选取相应的先进控制方法,并与PID控制相结合,对永磁同步电机各方面性能进行有针对性的优化,最终使其控制精度得到显著的提高。为达到对永磁同步电机进行性能优化的研究目的,文中首先探讨了正弦波永磁同步电机和方波永磁同步电机的运行特点及控制机理,通过建立数学模型,对相应的控制系统进行了整体分析。针对永磁同步电机非线性、强耦合的特点,设计了矢量控制方式下的永磁同步电机闭环反馈控制系统。结合常规PID控制,将模糊控制、遗传算法、神经网络和人工免疫等多种先进控制方法应用于永磁同步电机调速系统、伺服系统和同步传动系统的控制器设计中,以满足不同控制系统对电机动、静态性能的要求以及对调速性能或跟随性能的侧重。实验结果表明,采用先进控制方法的永磁同步电机具有较好的动态性能、抗扰动能力以及较强的鲁棒性能;与传统PID控制相比,系统的控制精度得到了明显提高。研究结果验证了先进控制方法应用于永磁同步电机性能优化的有效性和实用性。
In practical application, the request to control precision of permanent-magnet synchronous-motor (PMSM) is getting higher and higher. Especially in some domains with higher motor performance requirements such as robot, aerospace, precise electronic instrumentation and so on, the rapidity, stability and robustness of system have been important targets that determining PMSM performance. Traditional motor systems usually depend on PID control, which is a kind of linear control in essence. If a plant has nonlinear behaviors or varying parameters, the PID controller with constant parameters is unable to maintain the initial performance index. In the process of tunning PID parameters, the defined parameter values are not global but partial optimums. The actual motor system has many characteristics such as non-linearity, parameter time-variability and complex in modelling et al, therefore a normal PID controller is difficult to resolve the contradiction between dynamic quality and static precision fundamentally.
The study and application of advanced control strategies (intelligent control, optimization algorithm, etc.) have opened a new door for controlling complex PMSM systems. Advanced control strategies not only can get rid to the dependence on models of plants, but also have processing ability and robustness in processing inaccuracy and uncertainty questions, thus it’s an inevitable tendency to introduce advanced control strategies into PMSM control. According to different goal-realizing systems, responding advanced control strategies are chosen and combined to PID controllers, which will make the PMSM performances in various aspects have pointed optimization, and enable its control precision to obtain remarkable enhancement finally. To guarantee the research goal in performance optimization for PMSM, which has typical dynamic, time-variable and nonlinear characters, this paper is to study a problem about the work characteristics and control mechanisms of sine-wave and square-wave PMSM firstly. By the building of mathematical models, the overall analysis will be carried on to corresponding control system. Aiming at the nonlinearity and highly coupling of PMSM, closed-loop systems with feedback loops are going to be design on the way of vector-control. Combined with normal PID control, several kinds of advanced control strategies, such as fuzzy control, neural network, genetic algorithm, artificial immune algorithm and so on, are applied to controller design for PMSM speed systems, servo systems and synchronous-drive systems so as to satisfy the requests of different control systems on motor dynamic and static performance and follow the stress on speed-regulating or track behavior. Experimental results demonstrate that, compared with traditional PID control, the advanced control strategies bring better dynamic performance, anti-disturbance ability and stronger robustness to PMSM and enhance control precision in its system distinctly. The findings confirmed that advanced control strategies are effective and feasible on performance optimization for PMSM.
引文
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