基于递推最小二乘离散辨识法的飞轮储能系统无位置控制方法
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摘要
为了提高飞轮储能系统无位置传感器控制性能,飞轮电机必须具有参数辨识和参数自整定的功能。因此,提出一种基于递推最小二乘离散法在线辨识未知参数的转子位置扩张观测器,以使位置观测环节具有较强的鲁棒性能。首先,建立飞轮电机数学模型并进行离散化分析,在此基础上,采用通过将反电动势估算值反馈引入到非线性扩张观测器计算中的转子位置估算方法。随后,将基于递推最小二乘辨识算法应用于飞轮电机离散模型并可同时辨识定子电阻、交直轴电感等关键电磁参数,以便消除因飞轮电机模型误差引起的转子位置估算误差,提高系统无位置检测性能。最后,搭建基于DSP2812的硬件实验平台。仿真和实验结果表明所提算法对未知参数的辨识具有一定的准确性和实时性,可实现对飞轮储能系统的无位置传感器运行控制。
In order to improve the control performance of a position-sensorless in a flywheel energy storage system, a flywheel motor necessarily has functions of parameter identification and parameter self-tuning. This paper provides a rotor position extension observer on the basis of online identifying an unknown parameter by means of a recursive least squares discrete identification method, such that a position observation link has relatively high robust performance. Firstly, the mathematical model of flywheel motor is established and discretized. On this basis, rotor position estimation method is adopted by introducing back EMF estimation value into the calculation of nonlinear expansion observer. Then, recursive least square identification algorithm is applied to flywheel motor discrete model and key electromagnetic parameters such as stator resistance and AC-DC axis inductance can be identified at the same time, so as to eliminate rotor position estimation error caused by flywheel motor model error and improve system position-free detection performance. Finally, a hardware experimental platform based on DSP2812 is established. Simulation and experimental results show that the mentioned algorithm has certain accuracy and a certain real-time feature for the identification of the unknown parameter, and can achieve the operation control of the position-sensorless in the flywheel energy storage system.
In order to improve the control performance of a position-sensorless in a flywheel energy storage system, a flywheel motor necessarily has functions of parameter identification and parameter self-tuning. This paper provides a rotor position extension observer on the basis of online identifying an unknown parameter by means of a recursive least squares discrete identification method, such that a position observation link has relatively high robust performance. Firstly, the mathematical model of flywheel motor is established and discretized. On this basis, rotor position estimation method is adopted by introducing back EMF estimation value into the calculation of nonlinear expansion observer. Then, recursive least square identification algorithm is applied to flywheel motor discrete model and key electromagnetic parameters such as stator resistance and AC-DC axis inductance can be identified at the same time, so as to eliminate rotor position estimation error caused by flywheel motor model error and improve system position-free detection performance. Finally, a hardware experimental platform based on DSP2812 is established. Simulation and experimental results show that the mentioned algorithm has certain accuracy and a certain real-time feature for the identification of the unknown parameter, and can achieve the operation control of the position-sensorless in the flywheel energy storage system.
引文
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[15]陈勇,高玉文,陈章勇.一种自适应同步滤波器和正交锁相环相结合的滑模观测器[J].电工技术学报,2018,33(2):265-274.CHEN Yong,GAO Yuwen,CHEN Zhangyong.A sliding mode observer based on combination of adaptive synchronization filter and quadrature phase locked loop[J].Transactions of China Electrotechnical Society,2018,33(2):265-274.
[16]文建平,曹秉刚.无速度传感器的内嵌式永磁同步电机自抗扰控制调速系统[J].中国电机工程学报,2009,29(30):58-62.WEN Jianping,CAO Binggang.Active disturbances rejection control speed control system for sensorless IPMSM[J].Proceedings of the CSEE,2009,29(30):58-62.
[17]杜博超,韩守亮,张超,等.基于自抗扰控制器的内置式永磁同步电机无位置传感器控制[J].电工技术学报,2017,32(3):105-112.DU Bochao,HAN Shouliang,ZHANG Chao,et a1.Sensorless control of interior permanent magnet synchronous motor based on active disturbance rejection controller[J].Transactions of China Electrotechnical Society,2017,32(3):105-112.
[18]孙凯,许镇琳,邹积勇.基于自抗扰控制器的永磁同步电机无位置传感器矢量控制系统[J].中国电机工程学报,2007,27(3):18-22.SUN Kai,XU Zhenlin,ZOU Jiyong.A novel approach to position senseorless vector control of PMSM based on active-disturbance rejection controller[J].Proceedings of the CSEE,2007,27(3):18-22.
[19]秦余钢,马勇,李腾飞.基于改进最小二乘算法的船舶操纵性参数辨识[J].吉林大学学报,2016,46(3):898-903.QIN Yugang,MA Yong,LI Tengfei.Parameter identification of ship’s maneuvering motion based on improved least square method[J].Journal of Jilin University,2016,46(3):898-903.
[20]RASHED M,MACCONNELL P F A,STRONACH A F,et a1.Sensorless indirect-rotor-field-orientation speed control of a permanent-magnet synchronous motor with stator-resistance estimation[J].IEEE Transactions on Industrial Application,2017,54(3):1664-1675.
[21]董召强,徐秋霞,高谨.基于最小二乘法和硬件在环平台的永磁同步电机参数辨识[J].电机与控制应用,2017,44(6):57-62.DONG Zhaoqiang,XU Qiuxia,GAO Jin.Parameters identification of PMSM based on recurrence least square and hardware in the loop platform[J].Electric Machines&Control Application,2017,44(6):57-62.
[2]DE ANDRADE R.Voltage sags compensation using a superconducting flywheel energy storage system[J].IEEE Transactions on Applied Superconductivity,2005,15(2):2265-2268.
[3]ZHANG X,YANG J Q.A robust flywheel energy storage system discharge strategy for wide speed range operation[J].IEEE Transactions on Industrial Electronics,2017,64(10):7862-7873.
[4]张文娟,马浩淼,高蕊.引入比例谐振调节器的双馈电机转子电流无速度传感器控制[J].电力系统保护与控制,2018,46(10):108-112.ZHANG Wenjuan,MA Haomiao,GAO Rui.Rotor current speed sensorless control of doubly-fed induction generator based on proportional resonant regulator[J].Power System Protection and Control,2018,46(10):108-112.
[5]李树胜,付永领,刘平,等.磁悬浮飞轮储能UPS系统集成应用及充放电控制方法研究[J].中国电机工程学报,2017,37(12):170-176.LI Shusheng,FU Yongling,LIU Ping,et al.Research on integrated application and charging-discharging control method for the magnetically suspended flywheel storage-based UPS system[J].Proceedings of the CSEE,2017,37(12):170-176.
[6]邓小文,潘巧波,高庆水.永磁直驱机组叶轮质量不平衡故障建模及仿真研究[J].电力系统保护与控制,2018,46(4):35-40.DENG Xiaowen,PAN Qiaobo,GAO Qingshui.Research on the modeling and simulation of permanent magnet direct-driven wind turbine rotor imbalance fault[J].Power System Protection and Control,2018,46(4):35-40.
[7]刘文军,周龙,唐西胜,等.基于改进型滑模观测器的飞轮储能系统控制方法[J].中国电机工程学报,2014,34(1):71-78.LIU Wenjun,ZHOU Long,TANG Xisheng,et al.Research on FESS control based on the improved sliding-mode observer[J].Proceedings of the CSEE,2014,34(1):71-78.
[8]孟高军,刘海涛,伏祥运,等.基于混合观测器的飞轮储能系统控制方法[J].电力建设,2018,39(4):22-28.MENG Gaojun,LIU Haitao,FU Xiangyun,et al.Flywheel energy storage system control method based on hybrid observer[J].Electric Power Construction,2018,39(4):22-28.
[9]ZHU Z Q,GONG L M.Investigation of effectiveness of sensorless operation in carrier signal injection based sensorless control methods[J].IEEE Transactions on Industrial Electronics,2011,58(8):3431-3439.
[10]吕晓源,刘刚,毛琨,等.基于虚拟脉振高频注入法的永磁电机初始位置检测[J].电工技术学报,2017,32(23):34-41.LüXiaoyuan,LIU Gang,MAO Kun,et al.Initial position detection of permanent magnet motor based on virtual pulsating high-frequency injection method[J].Transactions of China Electrotechnical Society,2017,32(23):34-41.
[11]刘海东,周波,郭鸿浩,等.脉振高频信号注入法误差分析[J].电工技术学报,2015,30(6):38-44.LIU Haidong,ZHOU Bo,GUO Honghao,et al.Error analysis of high frequency pulsating signal injection method[J].Transactions of China Electrotechnical Society,2015,30(6):38-44.
[12]毛永乐,杨家强,赵寿华,等.带负载转矩估算的非线性观测器内嵌式永磁同步电机无位置传感器控制策略[J].中国电机工程学报,2016,36(8):2252-2259.MAO Yongle,YANG Jiaqiang,ZHAO Shouhua,et al.Nonlinear observer with load-torque estimation for sensorless control strategy of interior permanent magnet synchronous motor[J].Proceedings of the CSEE,2016,36(8):2252-2259.
[13]QUANG N K,HIEU N T.FPGA-based sensorless PMSM speed control using reduced-order extended Kalman filters[J].IEEE Transactions on Industrial Electronics,2014,61(12):6574-6582.
[14]ZHAO Yue,QIAO Wei,WU Long.Improved rotor position and speed estimators for sensorless control of interior permanent-magnet synchronous machines[J].IEEE Journal of Emerging and Selected Topics in Power Electronics,2014,3(2):627-639.
[15]陈勇,高玉文,陈章勇.一种自适应同步滤波器和正交锁相环相结合的滑模观测器[J].电工技术学报,2018,33(2):265-274.CHEN Yong,GAO Yuwen,CHEN Zhangyong.A sliding mode observer based on combination of adaptive synchronization filter and quadrature phase locked loop[J].Transactions of China Electrotechnical Society,2018,33(2):265-274.
[16]文建平,曹秉刚.无速度传感器的内嵌式永磁同步电机自抗扰控制调速系统[J].中国电机工程学报,2009,29(30):58-62.WEN Jianping,CAO Binggang.Active disturbances rejection control speed control system for sensorless IPMSM[J].Proceedings of the CSEE,2009,29(30):58-62.
[17]杜博超,韩守亮,张超,等.基于自抗扰控制器的内置式永磁同步电机无位置传感器控制[J].电工技术学报,2017,32(3):105-112.DU Bochao,HAN Shouliang,ZHANG Chao,et a1.Sensorless control of interior permanent magnet synchronous motor based on active disturbance rejection controller[J].Transactions of China Electrotechnical Society,2017,32(3):105-112.
[18]孙凯,许镇琳,邹积勇.基于自抗扰控制器的永磁同步电机无位置传感器矢量控制系统[J].中国电机工程学报,2007,27(3):18-22.SUN Kai,XU Zhenlin,ZOU Jiyong.A novel approach to position senseorless vector control of PMSM based on active-disturbance rejection controller[J].Proceedings of the CSEE,2007,27(3):18-22.
[19]秦余钢,马勇,李腾飞.基于改进最小二乘算法的船舶操纵性参数辨识[J].吉林大学学报,2016,46(3):898-903.QIN Yugang,MA Yong,LI Tengfei.Parameter identification of ship’s maneuvering motion based on improved least square method[J].Journal of Jilin University,2016,46(3):898-903.
[20]RASHED M,MACCONNELL P F A,STRONACH A F,et a1.Sensorless indirect-rotor-field-orientation speed control of a permanent-magnet synchronous motor with stator-resistance estimation[J].IEEE Transactions on Industrial Application,2017,54(3):1664-1675.
[21]董召强,徐秋霞,高谨.基于最小二乘法和硬件在环平台的永磁同步电机参数辨识[J].电机与控制应用,2017,44(6):57-62.DONG Zhaoqiang,XU Qiuxia,GAO Jin.Parameters identification of PMSM based on recurrence least square and hardware in the loop platform[J].Electric Machines&Control Application,2017,44(6):57-62.