永磁同步电动机分数阶Anti-Windup控制器的研究
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摘要
针对采用分数阶PI~λ控制器设计控制系统时引起的积分饱和现象(Windup现象),设计一种分数阶抗积分饱和控制器。根据分数阶积分特性,结合一种Anti-Windup控制器结构对控制器进行设计分析,并采用粒子群算法对控制器参数进行整定。最后将分数阶Anti-Windup控制器应用到永磁同步电动机(PMSM)调速系统中,通过仿真分析比较其控制性能。结果表明,分数阶Anti-Windup控制器能够降低系统超调量,提高系统快速性及抗干扰能力,具有良好的鲁棒性,可进一步改善控制系统的控制性能。
For the integral saturation phenomenon(Windup phenomenon) caused by the fractional order PI controller, a fractional integral saturation controller is designed. According to the characteristic of fractional integral, the controller is designed by using the structure of the Anti-Windup controller, and the controller parameters are determined by the particle swarm algorithm. Finally, the fractional order Anti-Windup controller is applied to the permanent magnet synchronous motor(PMSM) speed control system. The control performance is compared with the simulation analysis. The results show that the fractional order Anti-Windup controller can reduce the overshoot of the system, improve the rapidity and anti-interference ability of the system, and has a certain degree of robustness, and can further improve the control performance of the control system.
For the integral saturation phenomenon(Windup phenomenon) caused by the fractional order PI controller, a fractional integral saturation controller is designed. According to the characteristic of fractional integral, the controller is designed by using the structure of the Anti-Windup controller, and the controller parameters are determined by the particle swarm algorithm. Finally, the fractional order Anti-Windup controller is applied to the permanent magnet synchronous motor(PMSM) speed control system. The control performance is compared with the simulation analysis. The results show that the fractional order Anti-Windup controller can reduce the overshoot of the system, improve the rapidity and anti-interference ability of the system, and has a certain degree of robustness, and can further improve the control performance of the control system.
引文
[1]余伟.永磁同步电动机分数阶建模与研究[D].广州:华南理工大学,2014.Yu W.Study on fractional modeling for permanent magnet synchronous motor[D].Guangzhou:South China University of Technology,2014.
[2]Hwi B S,Jong G P.Anti-windup PID controller with integral state predictor for variable speed motor drives[J].IEEE Transactions on Industrial Electronics,2012,59(3):1509-1516.
[3]王伯恩,张兴华,聂晶.带积分状态估计器的Anti-Windup转速控制器[J].微电机,2013,46(8):68-71.Wang B E,Zhang X H,Nie J.Anti-windup controller with integral state estimator for direct torque controlled induction motor drives[J].Micro-motor,2013,46(8):68-71.
[4]Phil March,Matthew C T.Anti-windup compensator designs for non salient permanent-magnet synchronous motor speed regulators[J].Industry Applications,IEEE.2009:1598-1609.
[5]陈荣,邓智泉,严仰光.考虑饱和运行时永磁同步伺服系统速度调节器的设计与调整[J].电工技术学报,2005,20(5):24-29.Chen R,Deng Z Q,Yan Y G.Design and adjustment of the servo system speed regulator view of saturation[J].Transactions of China Electro-technical Society,2005,20(5):24-29.
[6]于艳君,柴凤,高宏伟,等.基于Anti-Windup控制器的永磁同步电机控制系统设计[J].电工技术学报,2009,24(4):66-70.Yan J Y,Chai F,Gao H Wi,et al.Design of PMSM system based on Anti-Windup controller[J].Transactions of China Electro-Technical Society,2009,24(4):66-70.
[7]Podlubny I.Fractional-order systems and controllers[J].IEEETransaction Automatic Control,1999,44(1):208-214.
[8]薛定宇,赵春娜.分数阶系统的分数阶PID控制器设计[J].控制理论与应用,2007,24(5):771-776.Xue D Y,Zhao C N.Fractional order PID controller design for fractional order system[J].Control Theory&Applications,2007,24(5):771-776.
[9]赵远征.分数阶控制算法在永磁交流伺服系统中的研究与应用[D].南京:南京理工大学,2014.Zhao Y Z.Research and application of fractional order control algorithm in the permanent magnet AC servo system[D].Nanjing:Nanjing University of Science and Technology,2014.
[10]王瑞萍.基于分数阶控制器的永磁同步电动机速度控制研究[D].广州:华南理工大学,2012.Wang R P.Research on fractional-order controller for permanent magnet synchronous motor speed control[D].Guangzhou:South China University of Technology,2012.
[11]牛志嘉.永磁同步电机分数阶PID控制研究与设计[D].四川:电子科技大学,2013.Niu Z J.Research and design of Fractional order PID control based on permanent magnet synchronous machine of[D].Sichuan:University of Electronic Science And Technology of China,2013.
[12]Padula F,Visioli A,Pagnoni M.On the anti-windup schemes for fractional-order PID controllers[C].Emerging Technologies&Factory Automation(ETFA),2012 IEEE 17th:1-4.
[13]Cao J Y,Cao B G.Design of fractional order controllers based on particle swarm optimization[J].International Journal of Control Automation and Systems,2006,4(6):1-6.
[14]薛定宇.控制系统计算机辅助设计-MATLAB语言与应用[M].北京:清华大学出版社,2012.Xue D Y.Computer aided control systems design using MATLABlanguage[M].Beijing:Tsinghua University press,2012.
[15]李英顺,赵春娜,陆涛.分数阶先进控制系统研究与应用[M].北京:北京师范大学出版社,2012,7.L i YS,Zhao C N,Lu T.Research and application of advanced control system of fractional order[M].Beijing:Beijing Normal University press,2012.
[16]齐亮,贾廷纲,侍洪波.永磁同步电机Anti-Windup速度控制器设计[J].电机与控制应用,2011,38(9):17-20.Qi L,Jia T G,Shi H B.Design of permanent magnet synchronous motor speed controller based on Anti-Windup[J].Motor and Control Applications,2011,38(9):17-20.
[17]杨明,唐思宇,徐殿国.基于积分状态预测的Anti-Windup PID控制器设计[J].电工技术学报,2014,29(9):145-151.Yang M,Tang S Y,Xu D G.Design of anti-windup PID controller with integral state prediction[J].Transactions of China ElectroTechnical Society,2014,29(9):145-151.
[18]洪乃刚.电力电子\电机控制系统的建模和仿真[M].北京:机械工业出版社,2010.Hong N G.Modeling and simulation of power electronics,motor control system and[M].Beijing:Machine Machine Press,2010.
[19]郭伟,韩丹丹,徐金成,等.基于粒子群优化的分数阶PID预测函数参数整定[J].控制工程,2014,21(1):70-73.Guo W,Han D D,Xu J C,et al.Fractional order PID prediction function control parameter tuning based on particle swarm optimization[J].Control Engineering,2014,21(1):70-73.
[20]缪仲翠,党建武,张鑫,等.PSO优化分数阶PIλ控制的双闭环直流调速控制[J].计算机科学与应用,2015,51(7):252-257.、Miu Z C,Dang J W,Zhang X,et al.PSO-based optimum deign of PIλcontroller for DC double closed-loop control[J].Computer Engineering and Applications,2015,51(7):252-257.
[2]Hwi B S,Jong G P.Anti-windup PID controller with integral state predictor for variable speed motor drives[J].IEEE Transactions on Industrial Electronics,2012,59(3):1509-1516.
[3]王伯恩,张兴华,聂晶.带积分状态估计器的Anti-Windup转速控制器[J].微电机,2013,46(8):68-71.Wang B E,Zhang X H,Nie J.Anti-windup controller with integral state estimator for direct torque controlled induction motor drives[J].Micro-motor,2013,46(8):68-71.
[4]Phil March,Matthew C T.Anti-windup compensator designs for non salient permanent-magnet synchronous motor speed regulators[J].Industry Applications,IEEE.2009:1598-1609.
[5]陈荣,邓智泉,严仰光.考虑饱和运行时永磁同步伺服系统速度调节器的设计与调整[J].电工技术学报,2005,20(5):24-29.Chen R,Deng Z Q,Yan Y G.Design and adjustment of the servo system speed regulator view of saturation[J].Transactions of China Electro-technical Society,2005,20(5):24-29.
[6]于艳君,柴凤,高宏伟,等.基于Anti-Windup控制器的永磁同步电机控制系统设计[J].电工技术学报,2009,24(4):66-70.Yan J Y,Chai F,Gao H Wi,et al.Design of PMSM system based on Anti-Windup controller[J].Transactions of China Electro-Technical Society,2009,24(4):66-70.
[7]Podlubny I.Fractional-order systems and controllers[J].IEEETransaction Automatic Control,1999,44(1):208-214.
[8]薛定宇,赵春娜.分数阶系统的分数阶PID控制器设计[J].控制理论与应用,2007,24(5):771-776.Xue D Y,Zhao C N.Fractional order PID controller design for fractional order system[J].Control Theory&Applications,2007,24(5):771-776.
[9]赵远征.分数阶控制算法在永磁交流伺服系统中的研究与应用[D].南京:南京理工大学,2014.Zhao Y Z.Research and application of fractional order control algorithm in the permanent magnet AC servo system[D].Nanjing:Nanjing University of Science and Technology,2014.
[10]王瑞萍.基于分数阶控制器的永磁同步电动机速度控制研究[D].广州:华南理工大学,2012.Wang R P.Research on fractional-order controller for permanent magnet synchronous motor speed control[D].Guangzhou:South China University of Technology,2012.
[11]牛志嘉.永磁同步电机分数阶PID控制研究与设计[D].四川:电子科技大学,2013.Niu Z J.Research and design of Fractional order PID control based on permanent magnet synchronous machine of[D].Sichuan:University of Electronic Science And Technology of China,2013.
[12]Padula F,Visioli A,Pagnoni M.On the anti-windup schemes for fractional-order PID controllers[C].Emerging Technologies&Factory Automation(ETFA),2012 IEEE 17th:1-4.
[13]Cao J Y,Cao B G.Design of fractional order controllers based on particle swarm optimization[J].International Journal of Control Automation and Systems,2006,4(6):1-6.
[14]薛定宇.控制系统计算机辅助设计-MATLAB语言与应用[M].北京:清华大学出版社,2012.Xue D Y.Computer aided control systems design using MATLABlanguage[M].Beijing:Tsinghua University press,2012.
[15]李英顺,赵春娜,陆涛.分数阶先进控制系统研究与应用[M].北京:北京师范大学出版社,2012,7.L i YS,Zhao C N,Lu T.Research and application of advanced control system of fractional order[M].Beijing:Beijing Normal University press,2012.
[16]齐亮,贾廷纲,侍洪波.永磁同步电机Anti-Windup速度控制器设计[J].电机与控制应用,2011,38(9):17-20.Qi L,Jia T G,Shi H B.Design of permanent magnet synchronous motor speed controller based on Anti-Windup[J].Motor and Control Applications,2011,38(9):17-20.
[17]杨明,唐思宇,徐殿国.基于积分状态预测的Anti-Windup PID控制器设计[J].电工技术学报,2014,29(9):145-151.Yang M,Tang S Y,Xu D G.Design of anti-windup PID controller with integral state prediction[J].Transactions of China ElectroTechnical Society,2014,29(9):145-151.
[18]洪乃刚.电力电子\电机控制系统的建模和仿真[M].北京:机械工业出版社,2010.Hong N G.Modeling and simulation of power electronics,motor control system and[M].Beijing:Machine Machine Press,2010.
[19]郭伟,韩丹丹,徐金成,等.基于粒子群优化的分数阶PID预测函数参数整定[J].控制工程,2014,21(1):70-73.Guo W,Han D D,Xu J C,et al.Fractional order PID prediction function control parameter tuning based on particle swarm optimization[J].Control Engineering,2014,21(1):70-73.
[20]缪仲翠,党建武,张鑫,等.PSO优化分数阶PIλ控制的双闭环直流调速控制[J].计算机科学与应用,2015,51(7):252-257.、Miu Z C,Dang J W,Zhang X,et al.PSO-based optimum deign of PIλcontroller for DC double closed-loop control[J].Computer Engineering and Applications,2015,51(7):252-257.