基于无速度传感器的永磁同步电机滑模自抗扰控制
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摘要
针对传统的自抗扰控制方法存在参数整定和响应速度问题,提出了一种新型的滑模自抗扰控制结构,构成了无速度传感器永磁同步电机滑模自抗扰调速系统。利用非线性干扰观测器(NDOB)取代扩张状态观测器(ESO)的综合扰动估计项,将滑模控制引入到非线性状态误差反馈控制律中,设计了滑模自抗扰电流控制器和速度控制器,利用李雅普诺夫理论证明稳定性。将电流控制器中的NESO观测值进行计算,得到电机的转子位置和转速估计值,构成无速度传感器的永磁同步电机调速系统。仿真结果表明了该方法的有效性。
Aiming at the problem of parameter setting and response speed of the traditional ADRC method, a kind of novel sliding mode auto disturbance rejection speed controller is designed, and a sliding mode adaptive speed control system of PMSM without speed sensor is established. The nonlinear disturbance observer(NDOB) is used to replace the extended state observer(ESO) integrated disturbance estimation. The sliding mode control is introduced in the nonlinear state error feedback control; the sliding mode ADRC current controller and speed controller are designed; and the stability is proved by using Lyapunov theory. The rotor position and speed of the motor are estimated by the NESO measurement; and a system of PMSM without speed sensor is established. The simulation results show the effectiveness of the method.
Aiming at the problem of parameter setting and response speed of the traditional ADRC method, a kind of novel sliding mode auto disturbance rejection speed controller is designed, and a sliding mode adaptive speed control system of PMSM without speed sensor is established. The nonlinear disturbance observer(NDOB) is used to replace the extended state observer(ESO) integrated disturbance estimation. The sliding mode control is introduced in the nonlinear state error feedback control; the sliding mode ADRC current controller and speed controller are designed; and the stability is proved by using Lyapunov theory. The rotor position and speed of the motor are estimated by the NESO measurement; and a system of PMSM without speed sensor is established. The simulation results show the effectiveness of the method.
引文
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[16]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):2254-2259.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):2254-2259.
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[18]Das M,Mahanta C.Optimal second order sliding mode control for nonlinear uncertain systems[J].ISA Trans,2014,53(4):1191-1198.
[19]佘致廷,董旺华.基于反步滑模变结构的PMSM速度控制[J].控制工程,2016,23(增1):2-5.She Zhiting,Dong Wanghua.Permanent Magnet Synchronous Motor Speed Control Based on Backstepping Sliding Mode Variable Structure[J].Control Engineering,2016,23(S1):2-5.
[20]夏长亮,刘均华.基于扩张状态观测器的永磁无刷直流电机滑模变结构控制[J].中国电机工程学报,2006,26(20):139-143.Xia Changliang,Liu Junhua.Variable Structure Control of BLDCM Based on Extended State Observer[J].Proceedings of the CSEE,2006,26(20):139-143.
[21]陈强,南余荣.基于扩张状态观测器的永磁同步电机混沌系统自适应滑模控制[J].物理学报,2014,63(22):220506.Chen Qiang,Nan Yurong.Adaptive sliding-mode control of chaotic permanent magnet synchronous motor system based on extended state observer[J].Acta Phys.Sin.,2014,63(22):220506.
[2]符慧,左月飞,刘闯.永磁同步电机转速环的一种变结构PI控制器[J].电工技术学报,2015,30(12):237-238.Fu Hui,Zuo Yuefei,Liu Chuang.A Variable Structure PIController for Permanent Magnetic Synchronous Motor Speed-regulation System[J].Transactions of China Electrotechnical Society,2015,30(12):237-238.
[3]刘庆飞.内置式永磁同步电机转子初始位置检测方法[J].电源学报,2017,15(1):132-137.Liu Qingfei.Initial Rotor Position Estimation Method for Interior Permanent Magnet Synchronous Motor[J].Journal of power supply,2017,15(1):132-137.
[4]侯利民,王巍.无速度传感器的表面式永磁同步电机无源控制策略[J].控制与决策,2013,28(10):1578-1586.Hou Limin,Wang Wei.Speed sensorless system of passivity-based control strategy for SPMSM[J].Control and Decision,2013,28(10):1578-1586.
[5]R Errouissi,M Ouhrouche,W H Chen,et al.Robust nonlinear predictive controller for permanent magnet synchronous motors with optimized cost function[C].IEEE Trans.Ind.Electron,2012,59(7):2849-2858.
[6]左月飞,张捷.基于自抗扰控制的永磁同步电机位置伺服系统一体化设计[J].电工技术学报,2016,31(11):51-58.Zuo Yuefei,Zhang Jie.Integrated Design for Permanent Magnet Synchronous Motor Servo Systems Based on Active Disturbance Rejection Control[J].Transactions of China Electrotechnical Society,2016,31(11):51-58.
[7]卢达,赵光宙,曲轶龙.永磁同步电机无参数整定自抗扰控制器[J].电工技术学报,2013,28(3):27-34.Lu Da,Zhao Guangzhou,Qu Yilong.Permanent Magnet Synchronous Motor Control System Based on No Manual Tuned Active Disturbance Rejection Control[J].Transactions of China Electrotechnical Society,2013,28(3):27-34.
[8]刘英培,栗然,梁海平.基于最小二乘支持向量机优化自抗扰控制器的永磁同步电机直接转矩控制方法[J].中国电机工程学报,2014,27(34):4654-4664.Liu Yingpei,Li Ran,Liang Haiping.Direct Torque Control for Permanent Magnet Synchronous Motor Based on Active-disturbance Rejection Control Optimized by Least Squares Support Vector Machines[J].China Proceedings of the CSEE,2014,27(34):4654-4664.
[9]沈德明,姚冰.基于线性自抗扰控制技术的PMSM仿真研究[J].控制工程,2016,23(增1):52-55.Shen Deming,Yao Bing.Simulating Investigation on PMSM Servo System Based on LADRC[J].Control engineering,2016,23(S1):52-55.
[10]吴云洁,李琛.基于自抗扰滑模的三轴挠性卫星姿态控制[J].系统仿真学报,2015,27(8):1831-1837.Wu Yunjie,Li Chen.Attitude Control of Three-axis flexible Satellite Based on Active-disturbance-rejection Sliding Mode Method[J].Journal of System Simulation,2015,27(8):1831-1837.
[11]Divyesh Ginoya.Sliding Mode Control for Mismatched Uncertain Systems Using an Extended Disturbance Observer[J].IEEE Transactionson industrial electronics(S0278-0046),2014,61(4):1983-1992.
[12]Yang Jun,Li Shihua,Yu Xinghuo.Sliding-Mode Control for Systems With Mismatched Uncertainties Via a Disturbance Observer[J].IEEE Transactions on Industrial Electronics(S0278-0046),2013,60(1):4398-4407.
[13]Y Jun,L Huixian,L Shihua,et al.Nonlinear disturbance observer based robust tracking control for a PMSMdrive subject to mismatched uncertainties[C].Control Conference(CCC),2012:830-835.
[14]侯利民,王怀震,李勇,等.级联式滑模观测器的永磁同步电机鲁棒滑模控制[J].控制与决策,2016,31(11):2071-2076.Hou Limin,Wang Huaizhen,Li Yong,et al.Robust sliding mode control of PMSM based on cascaded sliding mode observers[J].Control and Decision,2016,31(11):2071-2076.
[15]陆婋泉,林鹤云,韩俊林.永磁同步电机的扰动观测器无位置传感器控制[J].中国电机工程学报,2016,36(5):1387-1394.Lu Xiaoquan,Lin Heyun,Han Junlin.Position Sensorless Control of Permanent Magnet Synchronous Machine Using a Disturbance Observer[J].Proceedings of the CSEE,2016,36(5):1387-1394
[16]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):2254-2259.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):2254-2259.
[17]Han Yang,Li Peng,Zheng Zhiqiang.Sliding-mode and back-stepping control for output tracking systems with unmatched uncertainties via a disturbance observer[C]//International Workshop on Variable Structure Systems(VSS),2016:308-311.
[18]Das M,Mahanta C.Optimal second order sliding mode control for nonlinear uncertain systems[J].ISA Trans,2014,53(4):1191-1198.
[19]佘致廷,董旺华.基于反步滑模变结构的PMSM速度控制[J].控制工程,2016,23(增1):2-5.She Zhiting,Dong Wanghua.Permanent Magnet Synchronous Motor Speed Control Based on Backstepping Sliding Mode Variable Structure[J].Control Engineering,2016,23(S1):2-5.
[20]夏长亮,刘均华.基于扩张状态观测器的永磁无刷直流电机滑模变结构控制[J].中国电机工程学报,2006,26(20):139-143.Xia Changliang,Liu Junhua.Variable Structure Control of BLDCM Based on Extended State Observer[J].Proceedings of the CSEE,2006,26(20):139-143.
[21]陈强,南余荣.基于扩张状态观测器的永磁同步电机混沌系统自适应滑模控制[J].物理学报,2014,63(22):220506.Chen Qiang,Nan Yurong.Adaptive sliding-mode control of chaotic permanent magnet synchronous motor system based on extended state observer[J].Acta Phys.Sin.,2014,63(22):220506.