基于非线性抗扰滑模控制的永磁同步电机直接转矩控制
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摘要
针对永磁同步电机(PMSM)内部参数不确定和外部干扰未知的问题,提出了一种基于非线性光滑扩张状态观测器(ESO)的非线性控制方法。通过引入非线性光滑函数设计了ESO,实现了对PMSM内部和外部不确定因素的观测,并把观测结果实时补偿给非线性控制器,有效提高了电机的动静态性能和抗扰能力。采用基于非线性光滑函数的滑模控制器替代传统直接转矩控制中的滞环控制器,有效地削弱了转矩和磁链的抖振和脉动。仿真结果表明所提方法响应速度快、稳定性好、抗扰能力强,是一种鲁棒性强的控制方法。
In order to solve the problem of uncertain internal parameters and unknown external disturbances of permanent magnet synchronous motor(PMSM), a nonlinear control method based on nonlinear smooth extended state observer(ESO) was proposed. By introducing the non linear smooth function, the ESO was designed to observe the internal and external uncertainties of PMSM. The observational results were compensated to the non linear controller in real time, which improved the dynamic and static performance and anti-disturbance ability of the motor effectively. Sliding mode controller based on non linear smooth function was used to replace the hysteresis controller in traditional direct torque control(DTC), which effectively weakened the chattering and pulsation of the torque and flux linkage. The simulation results showed that the method has fast response, good stability, strong anti-disturbance ability, and good robustness.
In order to solve the problem of uncertain internal parameters and unknown external disturbances of permanent magnet synchronous motor(PMSM), a nonlinear control method based on nonlinear smooth extended state observer(ESO) was proposed. By introducing the non linear smooth function, the ESO was designed to observe the internal and external uncertainties of PMSM. The observational results were compensated to the non linear controller in real time, which improved the dynamic and static performance and anti-disturbance ability of the motor effectively. Sliding mode controller based on non linear smooth function was used to replace the hysteresis controller in traditional direct torque control(DTC), which effectively weakened the chattering and pulsation of the torque and flux linkage. The simulation results showed that the method has fast response, good stability, strong anti-disturbance ability, and good robustness.
引文
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[3] LASCU C,BOLDEA I,BLAABJERG F.Super-twisting sliding mode control of torque and flux in permanent magnet synchronous machine drives[C]//IECON 2013 39th Annual Conference of the IEEE Industrial Electronics Society,2014:3171.
[4] 邱鑫,黄文新,杨建飞,等.一种基于转矩角的永磁同步电机直接转矩控制[J].电工技术学报,2013,28(3):56.
[5] 陈炜,艾士超,谷鑫.基于最小电压矢量偏差的永磁同步电机直接转矩控制[J].电工技术学报,2015,30(14):116.
[6] 肖萌,史婷娜,王志强,等.基于多级滞环控制器的永磁同步电机直接转矩控制[J].中国电机工程学报,2017,37(14):4201.
[7] 吕帅帅,林辉,李兵强.面装式永磁同步电机无差拍直接转矩控制[J].电机与控制学报,2017,21(9):88.
[8] 韩京清.自抗扰控制技术:估计补偿不确定因素的控制技术[M].北京:国防工业出版社,2008.
[9] 贾洪平,孙丹,贺益康.基于滑模变结构的永磁同步电机直接转矩控制[J].中国电机工程学报,2006,26(20):134.
[10] 贾洪平,贺益康.永磁同步电机滑模变结构直接转矩控制[J].电工技术学报,2006,21(1):1.
[11] 毛亮亮,周凯,王旭东.永磁同步电机变指数趋近律滑模控制[J].电机与控制学报,2016,20(4):106.
[12] 袁雷,沈建清,肖飞,等.插入式永磁低速同步电机非奇异终端滑模观测器设计[J].物理学报,2013,62(3):37.
[13] 刘英培,栗然,梁海平.基于最小二乘支持向量机优化自抗扰控制器的永磁同步电机直接转矩控制方法[J].中国电机工程学报,2014,34(27):4654.
[14] 曾喆昭,吴亮东,杨振源,等.非仿射系统的自学习滑模抗扰控制[J].控制理论与应用,2016,33(7):980.
[15] 曾喆昭,吴亮东,陈韦名.基于ESO的一类线性时变系统自学习滑模控制方法[J].控制与决策,2016,31(11):2101.