无轴承异步电机悬浮系统的非线性滤波器自适应逆控制
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摘要
讨论了基于非线性自适应滤波器的无轴承异步电机(bearlngless induction motor,BIM)悬浮系统自适应逆解耦控制问题.利用非线性自适应滤波器,建立系统模型和逆模型.复制逆模型,将其串联在悬浮系统之前作为逆控制器,并采用改进的最小均方(least mean square,LMS)算法在线调整权值,从而实现转子的悬浮控制.相比于传统的控制方法,此方法不必依靠转矩系统来传递磁链信息,从而避免了各自的控制策略之间的相互制约问题.仿真结果验证了该方法的有效性,完成了系统模型和逆模型的建立,并且能够实现两自由度径向悬浮力之间解耦.
The adaptive inverse decoupling control based on nonlinear adaptive filter for levitation system of bearingless induction motor(BIM) is investigated.Nonlinear adaptive filters are used to build the model and the inverse model of the system.Based on the inverse model,the adaptive inverse controller which is cascaded in front of levitation system is designed by using the improved least mean square(LMS) algorithm to adjust the weighting factors online.Compared with the traditional control method,the flux information is not needed to be transferred with the torque control system.As a result,the mutual restriction between torque windings and levitation windings is avoided.Finally,we demonstrate the effectiveness of our proposed method with simulations.This method realizes not only the establishment of the system model and the inverse model,but also the decoupling control of levitation forces of two degrees of freedom.
The adaptive inverse decoupling control based on nonlinear adaptive filter for levitation system of bearingless induction motor(BIM) is investigated.Nonlinear adaptive filters are used to build the model and the inverse model of the system.Based on the inverse model,the adaptive inverse controller which is cascaded in front of levitation system is designed by using the improved least mean square(LMS) algorithm to adjust the weighting factors online.Compared with the traditional control method,the flux information is not needed to be transferred with the torque control system.As a result,the mutual restriction between torque windings and levitation windings is avoided.Finally,we demonstrate the effectiveness of our proposed method with simulations.This method realizes not only the establishment of the system model and the inverse model,but also the decoupling control of levitation forces of two degrees of freedom.
引文
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[18]GAO Ying,XIE Shengli.A variable step size LMS adaptive filtering algorithm and its analysis[J].Acta Electronica Sinica,2001,29(8):1094-1097.(高鹰,谢胜利.一种变步长LMS自适应滤波算法及分析[J].电子学报,2001,29(8):1094-1097.)
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[2]KOBAYASHI S,OOSHIMA M,UDDIN M N.A radial position control of bearingless motor based on d-q-axis current control[J].IEEE Transactions on Industry Applications,2013,49(4):1827-1835.
[3]LEI Meizhen,QIU Jianqi,LIN Ruiguang.Levitation mechanism and air-gap-flux orientated control of the induction-type bearingless motor[J].Electric Machines&Control Application,2005,32(7):35-40.(雷美珍,邱建琪,林瑞光.无轴承异步电机的悬浮机理及其气隙磁场定向控制[J].电机与控制应用,2005,32(7):35-40.)
[4]DENG Zhiquan,ZHANG Hongquan,WANG Xiaolin,et al.The nonlinear decoupling control of the bearingless induction motors based on the airgap flux orientation[J].Transactions of China Electrotechnical Society,2002,17(6):19-24.(邓智泉,张宏荃,王晓琳,等.基于气隙磁场定向的无轴承异步电机非线性解耦控制[J].电工技术学报,2002,17(6):19-24.)
[5]DENG Zhiquan,WANG Xiaolin,ZHANG Hongquan,et al.The nonlinear control of bearingless induction motors based on the motor rotor flux orientation[J].Proceedings of the CSEE,2003,23(3):89-92.(邓智泉,王晓琳,张宏荃,等.无轴承异步电机的转子磁场定向控制[J].中国电机工程学报,2003,23(3):89-92.)
[6]BU W S,LU C X,ZU C L,et al.Research on dynamic decoupling control method of three-phase bearingless induction motor[J].International Journal of Control and Automation,2014,7(5):77-86.
[7]ZHU H Q,ZHOU Y,LI T B,et al.Decoupling control of 5 degrees of freedom bearingless induction motors usingα-th order inverse system[J].Acta Automatica Sinica,2007,33(3):273-278.
[8]WANG Zhengqi,LIU Xianxing.Nonlinear internal model control for bearingless induction motor based on neural network inversion[J].Acta Automatica Sinica,2013,39(4):433-439.(王正齐,刘贤兴.基于神经网络逆系统的无轴承异步电机非线性内模控制[J].自动化学报,2013,39(4):433-439.)
[9]SUN Xiaodong,ZHU Huangqiu,ZHANG Tao,et al.Dynamic decoupling control for radial position of bearingless induction motor[J].Control Engineering of China,2010,17(2):224-227.(孙晓东,朱愰秋,张涛,等.无轴承异步电机径向位置的动态解耦控制[J].控制工程,2010,17(2):224-227.)
[10]WIDROW B,WALACH E.Adaptive Inverse Control[M].New Jersey:Prentice Hall PTR,1996.
[11]LIU Fucai,GAO Xue,WU Shichang.Research on adaptive inverse control and its future developments[J].Chinese Journal of Scientific Instrument,2008,29(12):2683-2688.(刘福才,高雪,吴士昌.自适应逆控制研究及其未来发展[J].仪器仪表学报,2008,29(12):2683-2688.)
[12]QU Yongyin,BAI Jing,ZHOU Zhenxiong,et al.Adaptive inverse control variable frequency speed regulation of asynchronous motor[J].Control and Decision,2007,22(7):821-824.(曲永印,白晶,周振雄,等.自适应逆控制的异步电机变频调速系统研究[J].控制与决策,2007,22(7):821-824.)
[13]WU S,CETINKUNT S.Model reference adaptive inverse control of a single link flexible robot[J].Computers&Structures,1993,47(2):213-223.
[14]SHAFIQ M.Internal model control structure using adaptive inverse control strategy[J].ISA Transactions,2005,44(3):353-362.
[15]GENG Jie,CHEN Zhen,LIU Xiangdong,et al.Adaptive inverse control of permanent magnet synchronous motor[J].Transactions of China Electrotechnical Society,2011,26(6):51-55.(耿洁,陈振,刘向东,等.永磁同步电机的自适应逆控制[J].电工技术学报,2011,26(6):51-55.)
[16]DENG Zhiquan,WANG Xiaolin,LI Bing,et al.Study on independent control of the levitation subsystem of bearingless induction motors[J].Proceedings of the CSEE,2003,23(9):107-111.(邓智泉,王晓琳,李冰,等.无轴承异步电机悬浮子系统独立控制的研究[J].中国电机工程学报,2003,23(9):107-111.)
[17]BU Wenshao,ZU Conglin,LU Chunxiao.Decoupling control strategy of bearingless induction motor under the conditions of considering current dynamic characteristics[J].Control Theory&Applications,2014,31(11):1561-1567.(卜文绍,祖从林,路春晓.考虑电流动态的无轴承异步电机解耦控制策略[J].控制理论与应用,2014,31(11):1561-1567.)
[18]GAO Ying,XIE Shengli.A variable step size LMS adaptive filtering algorithm and its analysis[J].Acta Electronica Sinica,2001,29(8):1094-1097.(高鹰,谢胜利.一种变步长LMS自适应滤波算法及分析[J].电子学报,2001,29(8):1094-1097.)
[19]ZHANG Jingjing,ZHOU Feifei,XU Shuai.Improved variable step size LMS improved algorithm[J].Modern Electronics Technique,2014,37(1):11-13.(张晶晶,周菲菲,许帅.改进的变步长LMS改进算法[J].现代电子技术,2014,37(1):11-13.)
[20]ZHAO Hongfei,MA Hongzhong,CHEN Kai,et al.Study on algorithm for active noise control in substation[J].Advanced Technology of Electrical Engineering and Energy,2014,33(10):70-74.(赵宏飞,马宏忠,陈楷,等.用于变电站噪声有源控制的一种算法研究[J].电工电能新技术,2014,33(10):70-74.)