永磁同步电机滑模调速系统新型趋近律控制
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摘要
为了提高永磁同步电机(permanent magnet synchronous motor)的控制性能,解决传统趋近律中存在的抖振和响应速度慢等问题,提出一种新型滑模趋近律。该趋近律是在双幂次趋近律的基础上,加入变指数趋近律,提高了系统的响应速度,同时引入系统的状态变量,抑制了变指数部分在接近滑模面时的抖振。通过理论证明了该趋近律具有存在性、可达性和稳定性。并与双幂次趋近律进行了性能控制比较,结果显示新型趋近律具有更快的收敛速度和控制性能。基于该滑模趋近律设计了永磁同步电机滑模控制器,并与传统的PI控制器做仿真比较。仿真和实验结果显示,采用新型趋近律的滑模控制器系统具有更强的鲁棒性和更快的收敛速度,在抑制系统抖振方面具有更优的能力,结果验证了所提出方法的有效性。
To improve the performance of speed control in the permanent magnet synchronous motor and to solve the problems of system chattering and slowly reaching speed in the regular reaching law, a novel reaching law was proposed. This novel reaching law adds variable exponential reaching law to the double power reaching law, which can simultaneously improve the system response speed. The system state variables has good effect on inhabiting the chattering problem caused by variable index term. It is indicated through theoretical analysis that the system under the proposed reaching law has existence, accessibility and stability. And compared novel reaching law with the double power reaching law, the results show that novel reaching law has faster reaching speed and great control performance. The sliding mode controller was designed based on this novel reaching law, and compared with traditional PI controller. Simulation and experiment results demonstrate that controller based on the novel reaching law has stronger robustness, faster reaching speed and better ability to inhabit system chattering. The results validate the feasibility and effectiveness of the proposed reaching law.
To improve the performance of speed control in the permanent magnet synchronous motor and to solve the problems of system chattering and slowly reaching speed in the regular reaching law, a novel reaching law was proposed. This novel reaching law adds variable exponential reaching law to the double power reaching law, which can simultaneously improve the system response speed. The system state variables has good effect on inhabiting the chattering problem caused by variable index term. It is indicated through theoretical analysis that the system under the proposed reaching law has existence, accessibility and stability. And compared novel reaching law with the double power reaching law, the results show that novel reaching law has faster reaching speed and great control performance. The sliding mode controller was designed based on this novel reaching law, and compared with traditional PI controller. Simulation and experiment results demonstrate that controller based on the novel reaching law has stronger robustness, faster reaching speed and better ability to inhabit system chattering. The results validate the feasibility and effectiveness of the proposed reaching law.
引文
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[11] 张瑶,马广富,郭延宁,等.一种多幂次滑模趋近律设计与分析[J].自动化学报,2016,42(3):466-472.
[12] 李慧洁,蔡远利.基于双幂次趋近律的滑模控制方法[J].控制与决策,2016,31(3):498-502.
[2] H Wang,H Zhang,Y Liang,et al.Reducing chattering using Adaptive Exponential Reaching Law[C].Sixth International Conference on Natural Computation (ICNC),2010.
[3] 刘金琨,孙富春.滑模变结构控制理论及其算法研究进展[J].控制理论与应用,2007,24(3):407-419.
[4] 贾洪平,孙丹,贺益康.基于滑模变结构的永磁同步电机直接转矩控制[J].中国电机工程学报,2006,24(20):134-137.
[5] 高为炳.变结构控制的理论及设计方法[M].北京:科学出版社,1996.
[6] 刘京,李洪文,邓永停.基于新型趋近律和扰动观测器的永磁同步电机滑模控制[J].工程科学学报,2017,39(6):933-944.
[7] 张晓光,赵克,孙力,等.永磁同步电动机滑模变结构调速系统新型趋近率控制[J].中国电机工程学报,2011,31 (24):77-82.
[8] 戴鹏,徐楠,谢后晴,等.永磁同步电机调速系统的快速幂次趋近律控制[J].电机与控制学报,2017,21(11):32-38.
[9] 梅红,王勇.快速收敛的机器人滑模变结构控制[J].信息与控制,2009,38(5):552-557.
[10] 廖瑛,杨雅君,王勇.滑模控制的新型双幂次组合函数趋近律[J].国防科技大学学报,2017,39(3):105-110.
[11] 张瑶,马广富,郭延宁,等.一种多幂次滑模趋近律设计与分析[J].自动化学报,2016,42(3):466-472.
[12] 李慧洁,蔡远利.基于双幂次趋近律的滑模控制方法[J].控制与决策,2016,31(3):498-502.