电力机车PMSM自适应模糊终端滑模控制
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摘要
为研究牵引工况下电力机车永磁同步电机(PMSM)的转速控制精度,建立了机车PMSM的d-q数学模型;考虑轮轨接触不平顺及车体静载荷在轮对径向产生的未知时变负载转矩,设计非线性转矩观测器(NTO)对其实际值进行估计,采用自适应模糊逻辑系统逼近观测误差的导数;在滑模面中引入类势能函数,并依据Lyapunov稳定性理论,构造了基于NTO的自适应模糊终端滑模控制器。仿真结果表明,机车PMSM转速控制系统一致有界收敛;轴电压、轴电流动态抖振较小;转矩观测误差收敛于0。
For the study of speed control precision for permanent magnetic synchronous motor(PMSM)on electric locomotives during traction,a mathematical model of PMSM was established in the d-q coordinate system after considering unknown radially time-varying load torque of wheel-set generated by wheel rail contact irregularity and static weight of locomotive body.Nonlinear torque observer(NTO)was designed to estimate the actual value of the time-varying torque with the observation error derivatives approached by adaptive fuzzy logic system.According to the Lyapunov stability theory,adaptive fuzzy terminal sliding mode controller with NTO was constructed after the introduction of quasi potential energy function in sliding mode surface.Simulation results demonstrate that the PMSM speed control system has uniformly bounded error with slight dynamic buffeting of axle voltage and axle current,and the torque observation error is constricted to 0.
For the study of speed control precision for permanent magnetic synchronous motor(PMSM)on electric locomotives during traction,a mathematical model of PMSM was established in the d-q coordinate system after considering unknown radially time-varying load torque of wheel-set generated by wheel rail contact irregularity and static weight of locomotive body.Nonlinear torque observer(NTO)was designed to estimate the actual value of the time-varying torque with the observation error derivatives approached by adaptive fuzzy logic system.According to the Lyapunov stability theory,adaptive fuzzy terminal sliding mode controller with NTO was constructed after the introduction of quasi potential energy function in sliding mode surface.Simulation results demonstrate that the PMSM speed control system has uniformly bounded error with slight dynamic buffeting of axle voltage and axle current,and the torque observation error is constricted to 0.
引文
[1]崔晶,张省伟.电力机车总体及走行部[M].成都:西南交通大学出版社,2016.
[2]付娟,林辉.电力机车电机[M].成都:西南交通大学出版社,2016.
[3]刘芳璇,李益民,崔晶,等.基于ACA-BFA算法的PMSM自适应模糊滑模控制[J].电气传动,2015,45(11):58-61.
[4]刘芳璇,王桂荣.基于自适应模糊微分积分滑模的无速度传感器永磁同步电机运行研究[J].电机与控制应用,2014,41(9):7-11.
[5]魏延辉,周卫祥,陈巍,等.基于NDO的ROV变深自适应终端滑模控制器设计[J].控制与决策,2016,31(2):373-377.
[6]方一鸣,齐静,李建雄,等.电液伺服驱动的连铸结晶器位移系统反步滑模控制[J].电机与控制学报,2014,18(4):96-101,110.
[7]高灵霞,孙凤兰.无刷直流电机的自适应模糊滑模控制策略研究[J].测控技术,2015,34(12):78-81.
[8]毛君,曹昊,郭金山,等.基于模糊滑模控制的液压支架推溜系统研究[J].测控技术,2017,36(2):67-70.
[9]方一鸣,于晓,牛犇,等.永磁同步电机的自适应模糊终端滑模速度控制[J].中南大学学报,2013,44(12):4855-4860.
[2]付娟,林辉.电力机车电机[M].成都:西南交通大学出版社,2016.
[3]刘芳璇,李益民,崔晶,等.基于ACA-BFA算法的PMSM自适应模糊滑模控制[J].电气传动,2015,45(11):58-61.
[4]刘芳璇,王桂荣.基于自适应模糊微分积分滑模的无速度传感器永磁同步电机运行研究[J].电机与控制应用,2014,41(9):7-11.
[5]魏延辉,周卫祥,陈巍,等.基于NDO的ROV变深自适应终端滑模控制器设计[J].控制与决策,2016,31(2):373-377.
[6]方一鸣,齐静,李建雄,等.电液伺服驱动的连铸结晶器位移系统反步滑模控制[J].电机与控制学报,2014,18(4):96-101,110.
[7]高灵霞,孙凤兰.无刷直流电机的自适应模糊滑模控制策略研究[J].测控技术,2015,34(12):78-81.
[8]毛君,曹昊,郭金山,等.基于模糊滑模控制的液压支架推溜系统研究[J].测控技术,2017,36(2):67-70.
[9]方一鸣,于晓,牛犇,等.永磁同步电机的自适应模糊终端滑模速度控制[J].中南大学学报,2013,44(12):4855-4860.