带负载观测的感应电机动态分数阶滑模控制
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摘要
为提高感应电机矢量控制性能,根据积分滑模控制和分数阶微积分理论,提出动态分数阶滑模控制方法。针对负载扰动问题,设计负载转矩滑模观测器,将负载观测值反馈到动态分数阶滑模控制中。通过Lyapunov定理证明所设计的控制器和观测器的稳定性和收敛性。仿真实验表明:负载观测器能准确观测负载转矩,带负载观测的动态分数阶滑模控制具较好的动态性能,对负载扰动有较强的鲁棒性,并有效抑制了滑模控制的抖振。
In order to improve the speed control performance of induction motor(IM)vector control system,a dynamic fractional order sliding mode control(DFOSMC)method is proposed based on the integral sliding mode control and fractional calculus theory. Aiming at the load disturbance problem the load torque sliding mode observer is designed and the load observation values are fed back to the DFOSMC. And the stability and convergence of the designed controller and observer are proved by Lyapunov's theorem. The simulation experiments show that the load torque observer can estimate the load torque accurately,and the DFOSMC with load torque observation has better dynamic performance,stronger robustness to load disturbances,and effectively suppress the chattering of SMC.
In order to improve the speed control performance of induction motor(IM)vector control system,a dynamic fractional order sliding mode control(DFOSMC)method is proposed based on the integral sliding mode control and fractional calculus theory. Aiming at the load disturbance problem the load torque sliding mode observer is designed and the load observation values are fed back to the DFOSMC. And the stability and convergence of the designed controller and observer are proved by Lyapunov's theorem. The simulation experiments show that the load torque observer can estimate the load torque accurately,and the DFOSMC with load torque observation has better dynamic performance,stronger robustness to load disturbances,and effectively suppress the chattering of SMC.
引文
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[17]Sira-Ramirez H.On the dynamical sliding mode control of nonlinear systems[J].International Journal of Control,1993,57(5):1039-1061.
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[19]Podlubny I.Fractional differential equations:an introduction to fractional derivatives,fractional differential equations,to methods of their solution and some of their applications[M].Salt Lake City:American Academic Press,1998.
[20]Utkin V,Guldner J,Shi J.Sliding mode control in electro-mechanical systems[M].Boca Raton:CRCPress,2009.
[21]阮毅,陈伯时.电力拖动自动控制系统[M].北京:机械工业出版社,2009.
[2]张伟,毛剑琴.基于模糊树模型的自适应模糊滑模控制方法[J].控制理论与应用,2010,27(2):263-268.[2]Zhang Wei,Mao Jianqin.Adaptive fuzzy sliding-mode control method based on fuzzy tree model[J].Control Theory&Applications,2010,27(2):263-268.
[3]Saghafinia A,Ping H W,Uddin M N,et al.Adaptive fuzzy sliding-mode control into chattering-free IM drive[J].IEEE Transactions on Industry Applications,2015,51(1):692-701.
[4]阳同光,桂卫华.基于神经网络滑模控制光伏系统最大功率点跟踪[J].太阳能学报,2016,37(9):2386-2392.[4]Yang Tongguang,Gui Weihua.Maximum power point tracking of photovoltaic system based on neural network sliding mode control[J].Acta Energiae Solaris Sinica,2016,37(9):2386-2392.
[5]张细政,王耀南,袁小芳,等.基于滑模与自适应观测器的感应电机非线性控制新策略[J].控制理论与应用,2010,27(6):753-760.[5]Zhang Xizheng,Wang Yaonan,Yuan Xiaofang,et al.New nonlinear controller for induction motor based on sliding-mode control and adaptive observer[J].Control Theory&Applications,2010,27(6):753-760.
[6]Azza H B,Zaidi N,Jemli M,et al.Development and experimental evaluation of a sensorless speed control of SPIM using adaptive sliding mode-MRAS strategy[J].IEEE Journal of Emerging and Selected Topics in Power Electronics,2014,2(2):319-328.
[7]Francesco Dinuzzo,Antonella Ferrara.Higher order sliding mode controllers with optimal reaching[J].IEEETransactions on Automatica Control,2009,54(9):98-104.
[8]张碧陶,皮佑国.永磁同步电机伺服系统模糊分数阶滑控制[J].控制与决策,2012,27(12):1776-1780.[8]Zhang Bitao,Pi Youguo.Fractional order fuzzy sliding mode control for permanent magnet synchronous motor servo drive[J].Control and Decision,2012,27(12):1776-1780.
[9]童克文,张兴,张昱,等.基于新型趋近律的永磁同步电动机滑模变结构控制[J].中国电机工程学报,2008,28(21):102-106.[9]Tong Kewen,Zhang Xing,Zhang Yu,et al.Sliding mode variable structure control of permanent magnet synchronous machine based on a novel reaching law[J].Proceedings of the CSEE,2008,28(21):102-106.
[10]张晓光,赵克,孙力,等.永磁同步电机滑模变结构调速系统动态品质控制[J].中国电机工程学报,2011,31(15):47-52.[10]Zhang Xiaoguang,Zhao Ke,Sun Li,et al.Sliding mode control of permanent magnet synchronous motor based on a novel exponential reaching law[J].Proceedings of the CSEE,2011,31(15):47-52.
[11]Barambones O,Garrido A J,Maseda F J.Integral sliding-mode controller for induction motor based on field-oriented control theory[J].IET Control Theory&Applications,2007,1(3):786-794.
[12]李政,胡广大,崔家瑞,等.永磁同步电机调速系统的积分型滑模变结构控制[J].中国电机工程学报,2014,34(3):431-437.[12]Li Zheng,Hu Guang,Cui Jiarui,et al.Sliding-mode variable structure control with integral action for permanent magnet synchronous motor[J].Proceedings of the CSEE,2014,34(3):431-437.
[13]谭健,周洲,祝小平,等.飞翼布局无人机分数阶积分滑模姿态控制[J].控制理论与应用,2015,32(5):607-614.[13]Tan Jian,Zhou Zhou,Zhu Xiaoping,et al.Attitude control for flying wing unmanned aerial vehicles bases on fractional order integral sliding-mode[J].Control Theory&Applications,2015,32(5):607-614.
[14]缪仲翠,张昊,巨梅,等.永磁同步电动机分数阶Anti-Windup控制器的研究[J].控制工程,2016,(10):1556-1561.[14]Miao Zhongcui,Zhang Hao,Ju Mei,et al.Research of the fractional order anti-windup controller for permanent magnet synchronous motor[J].Control Engineering of China,2016,(10):1556-1561.
[15]缪仲翠,巨梅,党建武,等.基于分数阶滑模观测器的感应电机速度估计[J].中国矿业大学学报,2016,45(6):1256-1262.[15]Miao Zhongcui,Ju Mei,Dang Jianwu,et al.Speed estimation of induction motor based on fractional-order sliding mode observer[J].Journal of China University of Mining&Technology,2016,45(6):1256-1262.
[16]黄家才,施昕昕,李宏胜,等.永磁同步电机调速系统的分数阶积分滑模控制[J].吉林大学学报:工学版,2014,44(6):1736-1742.[16]Huang Jiacai,Shi Xinxin,Li Hongsheng,et al.Speed control of PMSM using fractural order integral sliding mode controller[J].Journal of Jilin University:Engineering and Technology Edition,2014,44(6):1736-1742.
[17]Sira-Ramirez H.On the dynamical sliding mode control of nonlinear systems[J].International Journal of Control,1993,57(5):1039-1061.
[18]晁红敏,胡跃明.动态滑模控制及其在移动机器人输出跟踪中的应用[J].控制与决策,2001,16(5):565-568.[18]Chao Hongmin,Hu Yueming.Dynamical sliding mode control and its applications to output tracking of mobile robots[J].Control and Decision,2001,16(5):565-568.
[19]Podlubny I.Fractional differential equations:an introduction to fractional derivatives,fractional differential equations,to methods of their solution and some of their applications[M].Salt Lake City:American Academic Press,1998.
[20]Utkin V,Guldner J,Shi J.Sliding mode control in electro-mechanical systems[M].Boca Raton:CRCPress,2009.
[21]阮毅,陈伯时.电力拖动自动控制系统[M].北京:机械工业出版社,2009.