改进型偏差耦合多电机转速同步控制
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摘要
传统偏差耦合多电机同步控制系统中,系统的跟踪性能与同步性能相互耦合,难以兼顾。此外,在多电机系统起动阶段,传统偏差耦合控制结构跟踪误差补偿量较大,在输出限幅的作用下,各台电机电流环输入参考转矩相等,而负载不均导致各台电机加速度不等,致使转速同步误差增大。针对以上问题,该文首先运用线性系统校正原理设计了改进型偏差耦合控制结构,实现了系统的同步性能与跟踪性能的解耦调节;并在转速环部分增加了输出选择器,设计了输出选择函数,将跟踪误差补偿量按一定比例减小至限幅值以下,使得同步误差补偿量的作用更加突出,在多电机系统起动阶段减小了系统同步误差。最后在3台永磁电机平台上进行了仿真和实验,结果验证了该文所提改进型偏差耦合控制结构的有效性和可行性。
In the traditional relative coupling multi-motor synchronous control system, both the tracking performance and synchronization performance could not be considered simultaneously because of the intercoupling of these two performances. Moreover, the tracking error compensation of the speed control loop is large and reference torques of all motors are equal under the influence of output amplitude limitation. Thus, the acceleration of each motor will be unequal if loads are different from each other, which further lead to the increase of synchronization error. To solve the above problems, an improved relative coupling control system is designed in this paper based on the principle of linear system correction, and then the tracking performance and synchronization performance are decoupled. In addition, an output selection function is designed for the speed control loop to reduce the amount of compensation within the output amplitude limitation, which enhances the effect of synchronization error compensation and decreases the synchronization error of the system during the starting period. Finally, the simulations and experiments are carried out on the three permanent magnet motors system. The results verify the effectiveness and feasibility of the proposed improved structure.
In the traditional relative coupling multi-motor synchronous control system, both the tracking performance and synchronization performance could not be considered simultaneously because of the intercoupling of these two performances. Moreover, the tracking error compensation of the speed control loop is large and reference torques of all motors are equal under the influence of output amplitude limitation. Thus, the acceleration of each motor will be unequal if loads are different from each other, which further lead to the increase of synchronization error. To solve the above problems, an improved relative coupling control system is designed in this paper based on the principle of linear system correction, and then the tracking performance and synchronization performance are decoupled. In addition, an output selection function is designed for the speed control loop to reduce the amount of compensation within the output amplitude limitation, which enhances the effect of synchronization error compensation and decreases the synchronization error of the system during the starting period. Finally, the simulations and experiments are carried out on the three permanent magnet motors system. The results verify the effectiveness and feasibility of the proposed improved structure.
引文
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[12]涂文聪,骆光照,刘卫国.基于模糊动态代价函数的永磁同步电机有限控制集模型预测电流控制[J].电工技术学报,2017,32(16):89-97.Tu Wencong,Luo Guangzhao,Liu Weiguo.Finitecontrol-set model predictive current control for permanent magnet synchronous motor based on dynamic cost function using fuzzy method[J].Transactions of China Electrotechnical Society,2017,32(16):89-97.
[13]周湛清,夏长亮,陈炜,等.具有参数鲁棒性的永磁同步电机改进型预测转矩控制[J].电工技术学报,2018,33(5):965-972.Zhou Zhanqing,Xia Changliang,Chen Wei,et al.Modified predictive torque control for PMSM drives with parameter robustness[J].Transactions of China Electrotechnical Society,2018,33(5):965-972.
[14]魏玉春,夏长亮,刘涛,等.两电机转矩同步系统有限集模型预测控制[J].电工技术学报,2016,31(19):115-122.Wei Yuchun,Xia Changliang,Liu Tao,et al.Finite control set model predictive control for dual-motor torque synchronous sysetm[J].Transactions of China Electrotechnical Society,2016,31(19):115-122.
[15]Shi Tingna,Liu Hao,Geng Qiang,et al.An improved relative coupling control structure for multi-motor speed synchronous driving system[J].IET Electric Power Applications,2016,10(6):451-457.
[16]Harnefors L,Saarakkala S E,Hinkkanen M.Speed control of electrical drives using classical control methods[J].IEEE Transactions on Industry Applications,2013,49(2):889-898.
[17]Xia Changliang,Ji Bingnan,Shi Tingna,et al.Twodegree-of-freedom proportional integral speed control of electrical drives with kalman-filter-based speed estimation[J].IET Electric Power Applications,2016,10(1):18-24.
[2]刘然,孙建忠,罗亚琴,等.基于环形耦合策略的多电机同步控制研究[J].控制与决策,2011,26(6):957-960.Liu Ran,Sun Jianzhong,Luo Yaqin,et al.Research on multi-motor synchronization control based on the ring coupling strategy[J].Control and Decision,2011,26(6):957-960.
[3]Hu Tao,Wang Jingcheng,Zhang Langwen.Regional coupling based synchronization control of multimotor driving TBM cutterhead system[C]//IEEE 34th Chinese Control Conference,Hangzhou,2015:8789-8794.
[4]赵希梅,赵久威.精密直驱龙门系统的交叉耦合互补滑模控制[J].电工技术学报,2015,30(11):7-12.Zhao Ximei,Zhao Jiuwei.Cross-coupled complementary sliding mode control for precision direct-drive gantry system[J].Transactions of China Electrotechnical Society,2015,30(11):7-12.
[5]王丽梅,王炎,郭庆鼎,等.数控机床主轴驱动中的交流电机及其控制策略[J].电工技术学报,1999,14(3):34-38.Wang Limei,Wang Yan,Guo Qingding,et al.ACmotor and control method in spindle drive for numerical machine tools[J].Transactions of China Electrotechnical Society,1999,14(3):34-38.
[6]Deng W,Low K S.Cross-coupled contouring control of a rotary based biaxial motion system[C]//IEEE 9th International Conference on Control,Automation,Robotics and Vision,Singapore,2006:1-6.
[7]Payette K.The virtual shaft control algorithm for synchronized motion control[C]//IEEE Proceedings of the 1998 American Control Conference,Philadelphia,1998,5:3008-3012.
[8]Perez-Pinal,Nunez C,Alvarez R,et al.Comparison of multi-motor synchronization techniques[C]//30th Annual Conference of IEEE Industrial Electronics Society,Busan,2004,2:1670-1675.
[9]Xiao Y,Zhu Kuanyi.Optimal synchronization control of high-precision motion systems[J].IEEE Transactions on Industrial Electronics,2006,53(4):1160-1169.
[10]Perez-Pinal F J,Calderon G,Araujo-Vargas I.Relative coupling strategy[C]//IEEE International Electric Machines and Drives Conference,Madison,Wisconsin,2003,2:1162-1166.
[11]樊英,周晓飞,张向阳,等.基于新型趋近律和混合速度控制器的IPMSM调速系统滑模变结构控制[J].电工技术学报,2017,32(5):9-18.Fan Ying,Zhou Xiaofei,Zhang Xiangyang,et al.Sliding mode control of IPMSM system based on a new reaching law and a hybrid speed controller[J].Transactions of China Electrotechnical Society,2017,32(5):9-18.
[12]涂文聪,骆光照,刘卫国.基于模糊动态代价函数的永磁同步电机有限控制集模型预测电流控制[J].电工技术学报,2017,32(16):89-97.Tu Wencong,Luo Guangzhao,Liu Weiguo.Finitecontrol-set model predictive current control for permanent magnet synchronous motor based on dynamic cost function using fuzzy method[J].Transactions of China Electrotechnical Society,2017,32(16):89-97.
[13]周湛清,夏长亮,陈炜,等.具有参数鲁棒性的永磁同步电机改进型预测转矩控制[J].电工技术学报,2018,33(5):965-972.Zhou Zhanqing,Xia Changliang,Chen Wei,et al.Modified predictive torque control for PMSM drives with parameter robustness[J].Transactions of China Electrotechnical Society,2018,33(5):965-972.
[14]魏玉春,夏长亮,刘涛,等.两电机转矩同步系统有限集模型预测控制[J].电工技术学报,2016,31(19):115-122.Wei Yuchun,Xia Changliang,Liu Tao,et al.Finite control set model predictive control for dual-motor torque synchronous sysetm[J].Transactions of China Electrotechnical Society,2016,31(19):115-122.
[15]Shi Tingna,Liu Hao,Geng Qiang,et al.An improved relative coupling control structure for multi-motor speed synchronous driving system[J].IET Electric Power Applications,2016,10(6):451-457.
[16]Harnefors L,Saarakkala S E,Hinkkanen M.Speed control of electrical drives using classical control methods[J].IEEE Transactions on Industry Applications,2013,49(2):889-898.
[17]Xia Changliang,Ji Bingnan,Shi Tingna,et al.Twodegree-of-freedom proportional integral speed control of electrical drives with kalman-filter-based speed estimation[J].IET Electric Power Applications,2016,10(1):18-24.