基于前馈补偿的钻机系统永磁电机预测控制
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摘要
将永磁同步电机(PMSM)作为石油钻机系统的驱动设备时,针对快速响应和强鲁棒性的控制要求以及复杂工况下的外部扰动问题,提出了基于前馈补偿的石油钻机系统PMSM预测控制策略。在该方法中,对电机转速环采用以电机数学模型为基础的预测控制,以实现PMSM的快速响应和提高鲁棒性,并引入扩展状态观测器进行扰动前馈补偿。仿真结果表明:与电机转速PI控制和动态矩阵控制相比,该控制策略响应速度更快,超调量小,在负载干扰下转速波动小且能更快地恢复至稳定值。
When the permanent magnet synchronous motor(PMSM) was used as the driving device of the oil drilling rig system, the predictive control strategy of the PMSM in the oil drilling rig system based on feedforward compensation was proposed in view of the control requirements of fast response and strong robustness and the external disturbance in complex conditions. In this method, the predictive control based on the motor mathematical model was applied to the motor speed loop to realize the fast response and improve the robustness of the PMSM, and the extended state observer was introduced to realize the disturbance feedforward compensation. The simulation results showed that, compared with the speed PI control and dynamic matrix control of PMSM, the new control method had faster response and less overshoot, and the speed under the load interference exhibited less fluctuation and could be more quickly restored to the stable value.
When the permanent magnet synchronous motor(PMSM) was used as the driving device of the oil drilling rig system, the predictive control strategy of the PMSM in the oil drilling rig system based on feedforward compensation was proposed in view of the control requirements of fast response and strong robustness and the external disturbance in complex conditions. In this method, the predictive control based on the motor mathematical model was applied to the motor speed loop to realize the fast response and improve the robustness of the PMSM, and the extended state observer was introduced to realize the disturbance feedforward compensation. The simulation results showed that, compared with the speed PI control and dynamic matrix control of PMSM, the new control method had faster response and less overshoot, and the speed under the load interference exhibited less fluctuation and could be more quickly restored to the stable value.
引文
[1] 孙庆群.石油生产及钻采机械概论[M].北京:中国石化出版社,2011.
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[2] 田树贵.国产电驱动钻机控制系统综述[J].电气传动自动化,1999,21(3): 3.
[3] 孔小兵.永磁同步电机高效非线性模型预测控制[J].自动化学报,2014,40(9): 1959.
[4] WANG T, GAO H, QIU J. A combined adaptive neural network and nonlinear model predictive control for multirate networked industrial process control[J].IEEE Transactions on Neural Networks and Learning Systems,2016,27(2): 416.
[5] SUNG J Y, YOON H C. Generalized predictive control based on self-recurrent wavelet neural network for stable path tracking of mobile robots:adaptive learning rates approach[J].IEEE Transactions on Circuits and Systems,2006,53(6): 1381.
[6] JAROSLA G, HAITHAM A R. Speed sensorless induction motor drive with predictive current controller[J].IEEE Transactions on Industrial Electronics,2013,60(2): 699.
[7] 张巍,王昕,王振雷.基于证据网络的多变量MPC经济性能评估[J].化工学报,2012,63(11): 3585.
[8] 郑泽东,王奎,李永东,等.采用模型预测控制的交流电机电流控制器[J].电工技术学报,2013,28(11): 118.
[9] LIU H X, LI S H. Speed control for PMSM servo system using predictive functional control and extended state observer[J].IEEE Transactions on Industrial Electronics,2012,59(2): 1171.
[10] CHAI S, WANG L P, ROGERS E. A cascade MPC control structure for a PMSM with speed ripple minimization[J].IEEE Transactions on Industrial Electronics,2013,60(8): 2978.
[11] LIN C K. Model-free predictive current control for interior permanent-magnet synchronous motor drives based on current difference detection technique[J].IEEE Transactions on Industrial Electronics,2014,61(2): 667.
[12] WANG W, ZHANG J, CHENG M. Common model predictive control for permanent-magnet synchronous machine drives considering single-phase open-circuit fault[J].IEEE Transactions on Power Electronics,2017,32(7): 5862.
[13] ZHU H, XIAO X. Torque ripple reduction of the torque predictive control scheme for permanent-magnet synchronous motors[J].IEEE Transactions on Industrial Electronics,2012,59(2): 871.
[14] WANG Y, BOYD S. Fast model predictive control using online optimization[J].IEEE Transactions on Control Systems Technology,2010,18(2): 267.
[15] 席裕庚,李德伟,林姝.模型预测控制——现状与挑战[J].自动化学报,2013,39(3): 222.
[16] 王辉,薛珍珠,赵留羊,等.基于动态矩阵的永磁同步电机电流预测控制[J].电气传动,2017,47(4): 27.
[17] YOO D C, YAU S S, GAO Z Q. On convergence of the linear extended state observer[C]//IEEE International Symposium on Intelligent Control,2006: 1645.
[18] 刘旭东,李珂,孙静,等.基于广义预测和扩展状态观测器的永磁同步电机控制[J].控制理论与应用,2015,32(12): 1613.
[19] 韩京清.从PID技术到“自抗扰控制”技术[J].控制工程,2002,9(3): 13.
[20] MIKLOSOVIC R, GAO Z Q. A robust two-degree-of-freedom control design technique and its practical application[C]//Conf Rec 39th IEEE IAS Annu Meeting,Cleveland,USA,Oct,3-7,2004: 1495.