基于改进全阶状态观测器的异步电机速度估算系统
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摘要
为解决全阶状态观测器反馈自适应率参数寻找最优解困难的问题,提出一种部分种群给定的粒子群优化算法。该算法将利用频域方法设计好的几组参数值编码后混入随机初始种群,使得初始种群中优良品质个体的数量大大增加,提高了收敛速度和搜索效率。为解决不同转速下全阶状态观测器的离散精度和计算量相矛盾问题,提出在低速时采用欧拉法而在高速时采用简化的梯形法对全阶状态观测器进行离散化,既保证了系统估算精度,又使计算量大大减小。仿真和实验结果表明,基于全阶状态观测器转速估算系统具有良好的动态响应速度和稳态精度。
For the optimal solution of feedback adaptive rate parameters of full order state observer was difficult to find, an improved particle swarm offline optimization algorithm was proposed based on a given part of the population parameters was given. The feedback adaptive rate parameter design criterion was given by the frequency domain design method. Combined with the optimal advantages of particle swarm algorithm, some designed and encoded parameter values were mixed to the random initial population to increase the number of the fine individuals. The method can improve the convergence speed and search efficiency and achieve good optimization effect. Aiming at the problem of error and the amount of calculation, an improved method of discretization was proposed. The euler method was adopted in low speed and the trapezoidal method was adopted to discrete the full order state observer. At the same time, the trapezoidal method were reasonable approximate simplified. The discretization precision of improved method was greatly increased in the high speed and the amount of calculation was greatly reduced to realize the full order state observer of accurate digital control with the premise of guarantee accuracy advantages. Simulation and experimental results show that the speed estimation system has good dynamic response speed and steady-state accuracy based on the given algorithm.
For the optimal solution of feedback adaptive rate parameters of full order state observer was difficult to find, an improved particle swarm offline optimization algorithm was proposed based on a given part of the population parameters was given. The feedback adaptive rate parameter design criterion was given by the frequency domain design method. Combined with the optimal advantages of particle swarm algorithm, some designed and encoded parameter values were mixed to the random initial population to increase the number of the fine individuals. The method can improve the convergence speed and search efficiency and achieve good optimization effect. Aiming at the problem of error and the amount of calculation, an improved method of discretization was proposed. The euler method was adopted in low speed and the trapezoidal method was adopted to discrete the full order state observer. At the same time, the trapezoidal method were reasonable approximate simplified. The discretization precision of improved method was greatly increased in the high speed and the amount of calculation was greatly reduced to realize the full order state observer of accurate digital control with the premise of guarantee accuracy advantages. Simulation and experimental results show that the speed estimation system has good dynamic response speed and steady-state accuracy based on the given algorithm.
引文
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[4] Jing H,Liao L.Control of Speed Sensorless Permanent Magnet Synchronous Motor Based on MARS [J].Electric Drive for Locomotive,2007(1):33-36.
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[10] 吴文进,苏建徽,刘鹏,等.感应电机全阶磁链观测器设计及其控制性能对比分析[J].电机与控制学报,2016,20(4):78-83-92.
[11] 肖仁鑫,张海洋,陈峥,等.交流感应电机串联PI控制及其参数整定方法[J].控制工程,2016,23(6):613-618.
[12] 王惠民,张颖,葛兴来.基于全阶状态观测器的直线牵引电机励磁电感在线参数辨识[J].中国电机工程学报,2017,37(20):6101-6108.
[13] 倪启南,杨明,董翔,等.基于霍尔位置传感器的PMSM转速观测器状态估算误差抑制方法[J].电工技术学报,2017,32(17):189-198.
[14] 宋文祥,周杰,朱洪志,等.基于自适应全阶观测器的感应电机低速发电运行稳定性[J].电工技术学报,2014,29(3):196-205.
[15] 邓歆,张广明,王德明,等.基于全阶模型的异步电机磁链观测收敛性分析与对策[J].电工技术学报,2015,30(1):61-71.
[16] 凌光,王斯然,陈斌,等.感应电机全阶状态观测器的一种新型离散方法[J].电力电子技术,2012,46(4):78-81.
[17] Angelo Accetta,Maurizio Cirrincione,Marcello Pucci.Neural Sensorless Control of Linear Induction Motors by a Full-Order Luenberger Observer Considering the End Effects[J].IEEE Trans.on Industry Applications,2014,50 (3):1891-1904.
[18] 郭宁,范波,廖志明.感应电机全阶状态观测器及其无源性转速控制[J].电机与控制应用,2017,44(09):77-83.
[19] Mabrouk Jouili ,Kamel Jarray ,Yassine Koubaa.Luenberger State Observer for Speed Sensorless ISFOC Induction Motor Drives[J].Elsevier 2012,89:139-147.
[20] Youssef Agrebi Zorgani,Yassine Koubaa,et al.Mohamed Boussak MRAS State Estimator for Speed Sensorless ISFOC Induction Motor Drives with Luenberger Load Torque Estimation[J].ISA Transactions,2016,61:308-317.
[21] 王侠辉,童军,刘丽娟.基于全阶状态观测器转速估算方法的研究[J].电机与控制应用,2017,44(01):40-44.
[2] Kulkarni A B,Ehsani M.A Novel Position Sensor Elimination Technique for the Interior Permanent Magnet Synchronous Motor drive[J].IEEE Trans.on Industry Applications,1992,28 (1):144-150.
[3] Schauder C.Adaptive Speed Identification for Vector Control of Induction Motors Without Rotational Transducers [J].IEEE Trans.On Industry Application,1992,28(5):1054-1061.
[4] Jing H,Liao L.Control of Speed Sensorless Permanent Magnet Synchronous Motor Based on MARS [J].Electric Drive for Locomotive,2007(1):33-36.
[5] Zengcai Qu,Marko Hinkkanen.Gain Scheduling of a Full-Order Observer for Sensorless Induction Motor Drives [J].IEEE Trans.On Industry Application,2014,50(6):3834-3845.
[6] S Suwankawin,S Sangwongwanich.Design Strategy of an Adaptive Full-order Observer for Speed-sensorless Induction-motor Drives-tracking Performance and Stabilization[J].IEEE Trans.Ind.Electron,2006,53(1):96-119.
[7] 罗慧.感应电机全阶磁链观测器和转速估算方法研究[D].武汉:华中科技大学,2009.
[8] 宋文祥,周杰,尹赟.感应电机转速自适应全阶磁链观测器的离散化[J].上海大学学报,2012,18(6):582-589.
[9] 张永昌,赵争鸣,张颖超,等.基于全阶状态观测器的三电平逆变器异步电机无速度传感器矢量控制系统[J].电工技术学报,2008,23(11):34-40.
[10] 吴文进,苏建徽,刘鹏,等.感应电机全阶磁链观测器设计及其控制性能对比分析[J].电机与控制学报,2016,20(4):78-83-92.
[11] 肖仁鑫,张海洋,陈峥,等.交流感应电机串联PI控制及其参数整定方法[J].控制工程,2016,23(6):613-618.
[12] 王惠民,张颖,葛兴来.基于全阶状态观测器的直线牵引电机励磁电感在线参数辨识[J].中国电机工程学报,2017,37(20):6101-6108.
[13] 倪启南,杨明,董翔,等.基于霍尔位置传感器的PMSM转速观测器状态估算误差抑制方法[J].电工技术学报,2017,32(17):189-198.
[14] 宋文祥,周杰,朱洪志,等.基于自适应全阶观测器的感应电机低速发电运行稳定性[J].电工技术学报,2014,29(3):196-205.
[15] 邓歆,张广明,王德明,等.基于全阶模型的异步电机磁链观测收敛性分析与对策[J].电工技术学报,2015,30(1):61-71.
[16] 凌光,王斯然,陈斌,等.感应电机全阶状态观测器的一种新型离散方法[J].电力电子技术,2012,46(4):78-81.
[17] Angelo Accetta,Maurizio Cirrincione,Marcello Pucci.Neural Sensorless Control of Linear Induction Motors by a Full-Order Luenberger Observer Considering the End Effects[J].IEEE Trans.on Industry Applications,2014,50 (3):1891-1904.
[18] 郭宁,范波,廖志明.感应电机全阶状态观测器及其无源性转速控制[J].电机与控制应用,2017,44(09):77-83.
[19] Mabrouk Jouili ,Kamel Jarray ,Yassine Koubaa.Luenberger State Observer for Speed Sensorless ISFOC Induction Motor Drives[J].Elsevier 2012,89:139-147.
[20] Youssef Agrebi Zorgani,Yassine Koubaa,et al.Mohamed Boussak MRAS State Estimator for Speed Sensorless ISFOC Induction Motor Drives with Luenberger Load Torque Estimation[J].ISA Transactions,2016,61:308-317.
[21] 王侠辉,童军,刘丽娟.基于全阶状态观测器转速估算方法的研究[J].电机与控制应用,2017,44(01):40-44.