基于遗传算法的永磁同步电机自抗扰控制
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摘要
永磁同步电机常用的PID控制方式存在超调、抗扰动性能差等缺点。为了降低扰动对PMSM系统性能的影响,采用自抗扰控制方法,将系统固有扰动、因参数和负载等变化产生的扰动归为总和扰动,通过扩张状态观测器对系统状态和总扰动进行估计,并将观测值实时反馈给具有鲁棒性的控制器,从而抑制系统扰动,并用遗传算法优化自抗扰控制器ESO的部分参数。仿真表明:采用遗传算法优化的自抗扰控制提高了系统的响应速度和精度,有效抑制了扰动对PMSM跟踪精度的影响,实验也验证了系统的抗负载扰动性能优于PID控制,系统的鲁棒性强。
The effect of disturbance on the performance of the control system of PMSM can be reduced by auto disturbance rejection control(ADRC), and the control performance is better than PID. The disturbances include natural disturbance and external disturbance could be observed with the extended state observer(ESO), the observed value would feedback to the robust controller real-time, and some parameters of ADRC are optimized by genetic algorithm. Simulation results show that the ADRC optimized by genetic algorithm improves the response speed of the system, reduces the steady-state error, effectively suppresses the influence of disturbances on the performance, and improves the robustness of the control system,experiments also verify that the system has better performance of resisting load disturbance than PID control system.
The effect of disturbance on the performance of the control system of PMSM can be reduced by auto disturbance rejection control(ADRC), and the control performance is better than PID. The disturbances include natural disturbance and external disturbance could be observed with the extended state observer(ESO), the observed value would feedback to the robust controller real-time, and some parameters of ADRC are optimized by genetic algorithm. Simulation results show that the ADRC optimized by genetic algorithm improves the response speed of the system, reduces the steady-state error, effectively suppresses the influence of disturbances on the performance, and improves the robustness of the control system,experiments also verify that the system has better performance of resisting load disturbance than PID control system.
引文
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[14] LEI P,LIAO X B,HUANG L H,et al.Research of ADRC in application to the servo system of self-propelled gun[J].Applied mechanics and materials,2015(713/714/715):730-733.
[15] 马莉丽,蒋猛.基于名义模型的机械手PI鲁棒滑模控制研究[J].西南大学学报(自然科学版),2016,38(12):133-139.
[16] 陈勇,胡婷婷,鲁建厦.基于遗传算法改进的动态车间调度[J].浙江工业大学学报,2012,40(5):537-543
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[2] 徐斌.永磁同步电机矢量控制系统研究[D].南京:南京理工大学,2014.
[3] 朱志强,江紫亚,何玉庆,等.PID控制器的频域特性与无模型参数调节[J].控制与决策,2014,29(10):1833-1838.
[4] ZHENG E R,YANG H,WANG S C.Non-linearization simulation research of linear active disturbance rejection controller[J].Applied mechanics and materials,2013(427/428/429):1263-1267.
[5] GONG Q C,WU Y F.Auto disturbance rejection control for nonlinear time-delay systems[J].Applied mechanics and materials,2013(278/279/280):1547-1550.
[6] 张霓,范一心,何熊熊.基于观测器的多时变时滞系统H∞#br#输出跟踪控制[J].浙江工业大学学报,2015,43(4):438-444.
[7] 董辉,高阳,张文安,等.基于增强微分器的永磁同步电机速度控制研究[J].浙江工业大学学报,2015,43(4):445-449.
[8] 黄一,薛文超,赵春哲.自抗扰控制纵横谈[J].系统科学与数学,2011,31(9):1111-1129.
[9] 左月飞,张捷,刘闯,等.基于自抗扰控制的永磁同步电机位置伺服系统一体化设计[J].电工技术学报,2016,31(11):51-58.
[10] 黄庆.交流永磁电机伺服系统复合自抗扰控制策略研究[D].长沙:湖南大学,2014.
[11] 卢达,赵光宙,曲轶龙,等.永磁同步电机无参数整定自抗扰控制器[J].电工技术学报,2013,28(3):27-34.
[12] 孙凯,许镇琳,盖廓,等.基于自抗扰控制器的永磁同步电机位置伺服系统[J].中国电机工程学报,2007(15):43-46.
[13] 刘华新.永磁同步电机的滑模非线性PID控制[D].西安:西安电子科技大学,2013.
[14] LEI P,LIAO X B,HUANG L H,et al.Research of ADRC in application to the servo system of self-propelled gun[J].Applied mechanics and materials,2015(713/714/715):730-733.
[15] 马莉丽,蒋猛.基于名义模型的机械手PI鲁棒滑模控制研究[J].西南大学学报(自然科学版),2016,38(12):133-139.
[16] 陈勇,胡婷婷,鲁建厦.基于遗传算法改进的动态车间调度[J].浙江工业大学学报,2012,40(5):537-543
[17] 胡坤,张孝芳,刘常波.基于遗传算法的无人水下航行器深度自抗扰控制[J].兵工学报,2013,34(2):217-222.
[18] 瞿永飞.基于遗传算法的陀螺稳定平台速度环的自抗扰控制[D].合肥:中国科学技术大学,2014.
[19] QING S A,ZHOU L,YAN W.Genetic algorithm for the multi-objective optimization of product gene[J].Advanced engineering forum,2012(6):116-121.