模糊滑模控制和负载转矩补偿的异步电动机直接转矩控制
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摘要
针对异步电动机(IM)转矩脉动以及抗干扰能力差的问题,设计了基于模糊滑模控制(FSMC)与负载转矩补偿的新型直接转矩控制(DTC),取代传统PID速度调节器的是一种滑模控制器。为解决滑模控制器中负载转矩脉动的问题,用模糊逻辑控制器取代了传统滑模控制律中的不连续部分,可以明显降低异步电动机在低速运转时的转矩脉动。提出了一种负载转矩观测器来估计未知的负载转矩。负载转矩观测器用来估计负载转矩扰动,估计作为速度环的前馈补偿。仿真结果表明:在低速负载转矩扰动时,该设计具有更好的动态响应和速度性能、更高鲁棒性和更强的抗干扰能力。
Aiming at problem of torque ripple and bad anti-interference capability of induction motor( IM),a novel direct torque control( DTC) based on fuzzy sliding mode control( FSMC) with load torque compensation is designed. The conventional PID speed regulator is replaced by a sliding mode controller. To solve the problem of torque ripple of load in sliding mode controller,a fuzzy logic controller replaces the discontinuous part of the conventional sliding mode control law. It can obviously reduce the torque ripple of IM at low speed. In addition,a load torque observer is proposed to estimate the unknown load torque. The load torque observer is used to estimate load torque disturbances and the estimation is used as the feed-forward compensation in the speed loop. The simulation results show that the design has better dynamic response and speed performance,high robustness and strong anti-interference to load torque disturbance at low speed.
Aiming at problem of torque ripple and bad anti-interference capability of induction motor( IM),a novel direct torque control( DTC) based on fuzzy sliding mode control( FSMC) with load torque compensation is designed. The conventional PID speed regulator is replaced by a sliding mode controller. To solve the problem of torque ripple of load in sliding mode controller,a fuzzy logic controller replaces the discontinuous part of the conventional sliding mode control law. It can obviously reduce the torque ripple of IM at low speed. In addition,a load torque observer is proposed to estimate the unknown load torque. The load torque observer is used to estimate load torque disturbances and the estimation is used as the feed-forward compensation in the speed loop. The simulation results show that the design has better dynamic response and speed performance,high robustness and strong anti-interference to load torque disturbance at low speed.
引文
[1]Kaboli S,Vahdati-Khajeh E,Zolghadri M R.Probabilistic voltage harmonic analysis of direct torque controlled induction motor drives[J].IEEE Transactions on Power Electronics,2006,21(4):1041-1052.
[2]Cruz S M A,Cardoso A J M.Diagnosis of stator inter-turn short circuits in DTC induction motor drives[J].IEEE Transactions on Industry Applications,2004,40(5):1349-1360.
[3]吴召剑,吴定祥,龚金成,等.基于弹性联轴器形变量检测的电机扭矩测试系统[J].传感器与微系统,2016,35(4):116-118,122.
[4]Fnaiech M A,Betin F,Capolino G A,et al.Fuzzy logic and sliding-mode controls applied to six-phase induction machine with open phases[J].IEEE Transactions on Industrial Electronics,2010,57(1):354-364.
[5]Pajchrowski T,Zawirski K.Application of artificial neural network to robust speed control of servodrive[J].IEEE Transactions on Industrial Electronics,2007,54(1):200-207.
[6]Liutanakul P,Pierfederici S,Meibody-Tabar F.Application of SMC with I/O feedback linearization to the control of the cascade controlled-rectifier/inverter-motor drive system with small DClink capacitor[J].IEEE Transactions on Power Electronics,2008,23(5):2489-2499.
[7]Rong-Jong W.Fuzzy sliding-mode control using adaptive tuning technique[J].IEEE Transactions on Industrial Electronics,2007,54(1):586-594.
[8]Di Gennaro S,Rivera Dominguez J,Meza M A.Sensorless high order sliding mode control of induction motors with core loss[J].IEEE Transactions on Industrial Electronics,2014,61(6):2678-2689.
[9]Yazdanpanah R,Soltani J,Arab Markadeh G R.Nonlinear torque and stator flux controller for induction motor drive based on adaptive input-output feedback linearization and sliding mode control[J].Energy Conversion and Management,2008,49(4):541-550.
[10]胡正高,赵国荣,马合宝.基于奇异观测器的连续系统传感器故障估计[J].传感器与微系统,2015,34(9):48-50,57.
[11]Kaboli S,Zolghadri M R,Vahdati-Khajeh E.A fast flux search controller for DTC-based induction motor drives[J].IEEE Transactions on Industrial Electronics,2007,54(5):2407-2416.
[2]Cruz S M A,Cardoso A J M.Diagnosis of stator inter-turn short circuits in DTC induction motor drives[J].IEEE Transactions on Industry Applications,2004,40(5):1349-1360.
[3]吴召剑,吴定祥,龚金成,等.基于弹性联轴器形变量检测的电机扭矩测试系统[J].传感器与微系统,2016,35(4):116-118,122.
[4]Fnaiech M A,Betin F,Capolino G A,et al.Fuzzy logic and sliding-mode controls applied to six-phase induction machine with open phases[J].IEEE Transactions on Industrial Electronics,2010,57(1):354-364.
[5]Pajchrowski T,Zawirski K.Application of artificial neural network to robust speed control of servodrive[J].IEEE Transactions on Industrial Electronics,2007,54(1):200-207.
[6]Liutanakul P,Pierfederici S,Meibody-Tabar F.Application of SMC with I/O feedback linearization to the control of the cascade controlled-rectifier/inverter-motor drive system with small DClink capacitor[J].IEEE Transactions on Power Electronics,2008,23(5):2489-2499.
[7]Rong-Jong W.Fuzzy sliding-mode control using adaptive tuning technique[J].IEEE Transactions on Industrial Electronics,2007,54(1):586-594.
[8]Di Gennaro S,Rivera Dominguez J,Meza M A.Sensorless high order sliding mode control of induction motors with core loss[J].IEEE Transactions on Industrial Electronics,2014,61(6):2678-2689.
[9]Yazdanpanah R,Soltani J,Arab Markadeh G R.Nonlinear torque and stator flux controller for induction motor drive based on adaptive input-output feedback linearization and sliding mode control[J].Energy Conversion and Management,2008,49(4):541-550.
[10]胡正高,赵国荣,马合宝.基于奇异观测器的连续系统传感器故障估计[J].传感器与微系统,2015,34(9):48-50,57.
[11]Kaboli S,Zolghadri M R,Vahdati-Khajeh E.A fast flux search controller for DTC-based induction motor drives[J].IEEE Transactions on Industrial Electronics,2007,54(5):2407-2416.