基于扰动观测器的PMSM同步协调滑模控制
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摘要
针对在负载扰动情况下多永磁同步电机控制系统出现电机转速不同步的问题,提出了基于扰动观测器的永磁同步电机同步协调滑模控制策略。从单电机高性能控制策略和三电机耦合结构角度出发,首先,在矢量控制基础框架下,设计了基于非线性负载转矩观测器的积分型滑模速度控制器,构成了单电机高性能矢量控制调速系统;其次,提出了一种基于PI速度补偿器的偏差耦合控制结构,相比传统的偏差耦合控制结构能较好地实现在负载扰动下三电机的转速同步协调运行。最后通过仿真验证了方法的有效性。
In order to solve the problem that motor speed is not synchronized in the control system of multiple permanent magnet synchronous motors(PMSM) under load disturbance,a sliding mode control strategy based on disturbance observer for PMSM synchronous coordination is proposed. Starting from the high performance control strategy of single motor and the coupling structure of triple-motor,firstly,an integral sliding mode speed controller based on nonlinear load torque observer was designed in the framework of vector control,which constitutes a single motor high performance vector control speed regulation system. Secondly, a relative coupling control structure based on PI speed compensator was proposed.Compared with the traditional relative coupling control structure,the synchronization speed of the triple-motor can be coordinated under the load disturbance.Finally,the effectiveness of the method is verified by simulation.
In order to solve the problem that motor speed is not synchronized in the control system of multiple permanent magnet synchronous motors(PMSM) under load disturbance,a sliding mode control strategy based on disturbance observer for PMSM synchronous coordination is proposed. Starting from the high performance control strategy of single motor and the coupling structure of triple-motor,firstly,an integral sliding mode speed controller based on nonlinear load torque observer was designed in the framework of vector control,which constitutes a single motor high performance vector control speed regulation system. Secondly, a relative coupling control structure based on PI speed compensator was proposed.Compared with the traditional relative coupling control structure,the synchronization speed of the triple-motor can be coordinated under the load disturbance.Finally,the effectiveness of the method is verified by simulation.
引文
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[11]崔皆凡,谢炜,马桂新,等.基于BP神经网络PID的改进偏差耦合同步控制[J].微电机,2016,49(12):54-57.
[2] Cao H B,Huang D G.On composite position control of CNC system feeding PMSM based on position feedforward and SVPWM[C]//2010 IEEE International Conference on Mechatronics and Automation.2010:735-740.
[3] Liu Z Y,Yang J. Sliding-mode control-based adaptive PID control with compensation controller for motion synchronization of dual servo system[C]//Proceedings of the 36th Chinese Control Conference.2017:4929-4934.
[4]李英强,杨明,龙江,等.基于扩展卡尔曼滤波的永磁同步电机无电流传感器预测控制[J].电机与控制应用,2018,45(1):107-113.
[5]左月飞,张捷,刘闯,等.针对时变输人的永磁同步电机改进型自抗扰控制器[J].电工技术学报,2017,32(2).
[6]张志伟,张天一.永磁同步电机的滑模速度控制器建模研究仿真[J].计算机仿真,2016,33(12):380-384.
[7]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.
[8] Chen P R,Yang Y P,Chou J J.Cross-coupling control of a powered wheelchair driven by rim motors[C]//2016 IEEE International Conference on Systems,Man,and Cybernetics.2016:241-245.
[9] Shi T N,Liu H,Kia C L,et al.Improved relative coupling control structure for multi-motor speed synchronous driving system[J].IET Electric Power Applications,2016,10(6):451-457.
[10]曹春平,王波,胥小勇,等.基于神经网络多电机偏差耦合同步控制研究[J].控制工程,2013,20(3):415-418.
[11]崔皆凡,谢炜,马桂新,等.基于BP神经网络PID的改进偏差耦合同步控制[J].微电机,2016,49(12):54-57.