永磁同步电机速度伺服系统的复合有限时间控制
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摘要
针对传统线性控制下的永磁同步电机速度伺服系统误差收敛时间长、抗扰动性能差等问题,提出一种速度环和电流环有限时间复合控制策略。根据有限时间控制理论,分别在转速环和电流环设计了有限时间控制器,提升系统误差的收敛速度;引入二阶扩张状态观测器,削弱参数摄动、负载扰动及不确定性扰动对系统带来的影响。仿真结果表明,与传统线性控制方法相比,提出的控制策略能够明显提升系统的收敛速度与抗扰性,验证了有限时间复合控制策略的有效性。
In order to solve the problems of long error convergence time and weak anti-disturbance performance of the permanent magnet synchronous motor speed servo system based on the traditional linear control, a speed and current double closed-loop control strategy adopting compound finite-time control theory was proposed. According to the finite-time control theory, the finite-time controllers were designed respectively to increase the convergence rate of the error. The second-order expansion state observers were designed to reduce the influence of parameter perturbation, load disturbance and other uncertainties on the system. The simulation results showed that compared with the traditional linear control method, the proposed control strategy can significantly improve the convergence rate and anti-disturbance ability of the system, and verified the effectiveness of the control strategy based on compound finite-time controller.
In order to solve the problems of long error convergence time and weak anti-disturbance performance of the permanent magnet synchronous motor speed servo system based on the traditional linear control, a speed and current double closed-loop control strategy adopting compound finite-time control theory was proposed. According to the finite-time control theory, the finite-time controllers were designed respectively to increase the convergence rate of the error. The second-order expansion state observers were designed to reduce the influence of parameter perturbation, load disturbance and other uncertainties on the system. The simulation results showed that compared with the traditional linear control method, the proposed control strategy can significantly improve the convergence rate and anti-disturbance ability of the system, and verified the effectiveness of the control strategy based on compound finite-time controller.
引文
[1] 张小华,刘慧贤,丁世宏,等.基于扰动观测器和有限时间控制的永磁同步电机调速系统[J].控制与决策,2009,24(7):1027-1032.
[2] 刘慧贤,杜深慧,郝崇清. PMSM调速系统的有限时间复合控制器设计[J].微电机,2014,47(2):33-36.
[3] Shihua Li, Huixian Liu, Shihong Ding. A speed control for a PMSM Using Finite-time Feedback Control and Disturbance Compensation[J]. Transactions of the Institute of Measurement and Control, 2010, 32(2): 170-187.
[4] 刘慧贤,丁世宏,李世华,等.永磁同步电机位置伺服系统的有限时间控制[J].电机与控制学报,2009,13(3):424-430.
[5] 郑剑飞,冯勇,陆起良.永磁同步电机的高阶终端滑模控制方法[J].控制理论与应用,2009,26(6):697-700.
[6] 方一鸣,李智,吴洋羊,等.基于终端滑模负载观测器的永磁同步电机位置系统反步控制[J].电机与控制学报,2014,18(9):105-111.
[7] Han J. From PID to Active Disturbance Rejection Control[J]. IEEE Transactions on Industrial Electronics, 2009, 56(3):900-906.
[2] 刘慧贤,杜深慧,郝崇清. PMSM调速系统的有限时间复合控制器设计[J].微电机,2014,47(2):33-36.
[3] Shihua Li, Huixian Liu, Shihong Ding. A speed control for a PMSM Using Finite-time Feedback Control and Disturbance Compensation[J]. Transactions of the Institute of Measurement and Control, 2010, 32(2): 170-187.
[4] 刘慧贤,丁世宏,李世华,等.永磁同步电机位置伺服系统的有限时间控制[J].电机与控制学报,2009,13(3):424-430.
[5] 郑剑飞,冯勇,陆起良.永磁同步电机的高阶终端滑模控制方法[J].控制理论与应用,2009,26(6):697-700.
[6] 方一鸣,李智,吴洋羊,等.基于终端滑模负载观测器的永磁同步电机位置系统反步控制[J].电机与控制学报,2014,18(9):105-111.
[7] Han J. From PID to Active Disturbance Rejection Control[J]. IEEE Transactions on Industrial Electronics, 2009, 56(3):900-906.