基于自适应内模观测器的永磁同步直线电机高带宽强鲁棒预测电流控制策略研究
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摘要
该文采用一种基于自适应内模观测器的预测电流控制策略,来提高永磁同步直线电机的电流环性能,进而实现直线电机的高精密跟踪控制。首先通过预测误差校正因子改进电流预测模型,提高每个采样周期的电流预测精度,减小电流纹波;其次建立内模观测器去估计电机参数失配带来的系统扰动,利用标称电流方程设计自适应算法,获得高带宽的扰动估计;接着采用离散的李雅普诺夫函数去选择满足系统稳定的自适应增益,充分抑制系统扰动,提高系统的鲁棒性;最后搭建基于半实物AD5435的直线电机控制平台,实验结果验证了该文方法的正确性和有效性。
This paper studied a predictive current control strategy based on adaptive internal model observer to improve the current performance of the permanent-magnet synchronous linear motor and achieve high-precision tracking control. First,a lower current ripple was obtained by using the prediction error correction factor to improve the predictive model and the accuracy of the current prediction for each sampling period.Second, the internal model observer was established to estimate the system disturbance caused by parameters mismatch. An adaptive algorithm was designed by using the nominal current equation to obtain high-bandwidth disturbance estimation.Then, a discrete Lyapunov function was used to select an adaptive gain that satisfies the stability of the system to fully suppress the system disturbance. Finally, an experimental platform was established based on semi-physical system AD5435. Experimental results were presented to verify the significance and correctness of the proposed approach.
This paper studied a predictive current control strategy based on adaptive internal model observer to improve the current performance of the permanent-magnet synchronous linear motor and achieve high-precision tracking control. First,a lower current ripple was obtained by using the prediction error correction factor to improve the predictive model and the accuracy of the current prediction for each sampling period.Second, the internal model observer was established to estimate the system disturbance caused by parameters mismatch. An adaptive algorithm was designed by using the nominal current equation to obtain high-bandwidth disturbance estimation.Then, a discrete Lyapunov function was used to select an adaptive gain that satisfies the stability of the system to fully suppress the system disturbance. Finally, an experimental platform was established based on semi-physical system AD5435. Experimental results were presented to verify the significance and correctness of the proposed approach.
引文
[1]洪俊杰,李立毅.基于电流误差矢量的绕组分段永磁直线同步电机电流预测控制[J].中国电机工程学报,2011,31(30):77-84.Hong Junjie,Li Liyi.Current error vector based prediction control of currents in segment winding permanent magnet linear synchronous motor[J].Proceedings of the CSEE,2011,31(30):77-84(in Chinese).
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[11]Xie Wei,Wang Xiaocan,Wang Fengxiang,et al.Finite-control-set model predictive torque control with a deadbeat solution for PMSM drives[J].IEEE Transactions on Industrial Electronics,2015,62(9):5402-5410.
[12]Martin D,Santi E.Autotuning of digital deadbeat current controllers for grid-tie inverters using wide bandwidth impedance identification[J].IEEE Transactions on Industry Applications,2014,50(1):441-451.
[13]王明义,刘家曦,李立毅,等.永磁同步直线电机电流预测控制优化设计[J].电机与控制学报,2013,17(11):28-32.Wang Mingyi,Liu Jiaxi,Li Liyi,et al.Optimization design of predictive current control for permanent magnet synchronous linear motor[J].Electric Machines and Control,2013,17(11):28-32(in Chinese).
[14]Moon H T,Kim H S,Youn M J.A discrete-time predictive current control for PMSM[J].IEEE Transactions on Power Electronics,2003,18(1):464-472.
[15]Underwood S J,Husain I.Online parameter estimation and adaptive control of permanent-magnet synchronous machines[J].IEEE Transactions on Industrial Electronics,2010,57(7):2435-2443.
[16]Dang Dongquang,Rafaq M S,Choi H H,et al.Online parameter estimation technique for adaptive control applications of interior PM synchronous motor drives[J].IEEE Transactions on Industrial Electronics,2016,63(3):1438-1449.
[17]易伯瑜,康龙云,冯自成,等.基于扰动观测器的永磁同步电机预测电流控制[J].电工技术学报,2016,31(18):37-45.Yi Boyu,Kang Longyun,Feng Zicheng,et al.Predictive current control for permanent magnet synchronous motor based on disturbance observer[J].Transactions of China Electrotechnical Society,2016,31(18):37-45.
[18]牛里,杨明,王庚,等.基于无差拍控制的永磁同步电机鲁棒电流控制算法研究[J].中国电机工程学报,2013,33(15):78-85.Niu Li,Yang Ming,Wang Geng,et al.Research on the robust current control algorithm of permanent magnet synchronous motor based on deadbeat control principle[J].Proceedings of the CSEE,2013,33(15):78-85(in Chinese).
[19]王伟华,肖曦.永磁同步电机高动态响应电流控制方法研究[J].中国电机工程学报,2013,33(21):117-123.Wang Weihua,Xiao Xi.A current control method for permanent magnet synchronous motors with high dynamic performance[J].Proceedings of the CSEE,2013,33(21):117-123(in Chinese).
[20]Zhang Xiaoguang,Hou Benshuai,Mei Yang.Deadbeat predictive current control of permanent-magnet synchronous motors with stator current and disturbance observer[J].IEEE Transactions on Power Electronics,2017,32(5):3818-3834.
[21]王宏佳,徐殿国,杨明.永磁同步电机改进无差拍电流预测控制[J].电工技术学报,2011,26(6):39-45.Wang Hongjia,Xu Dianguo,Yang Ming.Improved deadbeat predictive current control strategy of permanent magnet motor drives[J].Transactions of China Electrotechnical Society,2011,26(6):39-45(in Chinese).
[2]宋俊材,董菲,赵吉文,等.基于重心邻域算法的无铁心永磁同步直线电机优化设计研究[J].中国电机工程学报,2017,37(12):3594-3601.Song Juncai,Dong Fei,Zhao Jiwen,et al.Design optimization research of air-core permanent magnet permanent magnet synchronous linear motor based on gravity neighborhood center algorithm[J].Proceedings of the CSEE,2017,37(12):3594-3601(in Chinese).
[3]张月玲,党选举.基于死区迟滞函数的永磁同步直线电机滑模控制[J].中国电机工程学报,2011,28(7):191-195.Zhang Yueling,Dang Xuanju.Sliding mode control based on dead-zone hysteresis function for PMLSM[J].Proceedings of the CSEE,2011,28(7):191-195(in Chinese).
[4]Chung S U,Kim J M.Double-sided iron-core PMLSMmover teeth arrangement design for reduction of detent force and speed ripple[J].IEEE Transactions on Industrial Electronics,2016,63(5):3000-3008.
[5]Wang Mingyi,Li Liyi,Pan Donghua.Detent force compensation for PMLSM systems based on structural design and control method combination[J].IEEETransactions on Industrial Electronics,2015,62(11):6845-6854.
[6]Wang Mingyi,Li Liyi,Pan Donghua,et al.High-bandwidth and strong robust current regulation for PMLSM drives considering thrust ripple[J].IEEETransactions on Power Electronics,2016,31(9):6646-6657.
[7]Ho C N M,Cheung V S P,Chung H S H.Constant-frequency hysteresis current control of grid-connected VSI without bandwidth control[J].IEEETransactions on Power Electronics,2009,24(11):2484-2495.
[8]Berriri H,Naouar W,Bahri I,et al.Field programmable gate array-based fault-tolerant hysteresis current control for AC machine drives[J].IET Electric Power Applications,2012,6(3):181-189.
[9]Sun Jianjun,Gong Jinwu,Chen Baifeng,et al.Analysis and design of repetitive controller based on regeneration spectrum and sensitivity function in active power filter system[J].IET Power Electronics,2014,7(8):2133-2140.
[10]牛里,杨明,刘可述,等.永磁同步电机电流预测控制算法[J].中国电机工程学报,2012,32(6):131-137.Niu Li,Yang Ming,Liu Keshu,et al.A predictive current control scheme for permanent magnet synchronous motors[J].Proceedings of the CSEE,2012,32(6):131-137(in Chinese).
[11]Xie Wei,Wang Xiaocan,Wang Fengxiang,et al.Finite-control-set model predictive torque control with a deadbeat solution for PMSM drives[J].IEEE Transactions on Industrial Electronics,2015,62(9):5402-5410.
[12]Martin D,Santi E.Autotuning of digital deadbeat current controllers for grid-tie inverters using wide bandwidth impedance identification[J].IEEE Transactions on Industry Applications,2014,50(1):441-451.
[13]王明义,刘家曦,李立毅,等.永磁同步直线电机电流预测控制优化设计[J].电机与控制学报,2013,17(11):28-32.Wang Mingyi,Liu Jiaxi,Li Liyi,et al.Optimization design of predictive current control for permanent magnet synchronous linear motor[J].Electric Machines and Control,2013,17(11):28-32(in Chinese).
[14]Moon H T,Kim H S,Youn M J.A discrete-time predictive current control for PMSM[J].IEEE Transactions on Power Electronics,2003,18(1):464-472.
[15]Underwood S J,Husain I.Online parameter estimation and adaptive control of permanent-magnet synchronous machines[J].IEEE Transactions on Industrial Electronics,2010,57(7):2435-2443.
[16]Dang Dongquang,Rafaq M S,Choi H H,et al.Online parameter estimation technique for adaptive control applications of interior PM synchronous motor drives[J].IEEE Transactions on Industrial Electronics,2016,63(3):1438-1449.
[17]易伯瑜,康龙云,冯自成,等.基于扰动观测器的永磁同步电机预测电流控制[J].电工技术学报,2016,31(18):37-45.Yi Boyu,Kang Longyun,Feng Zicheng,et al.Predictive current control for permanent magnet synchronous motor based on disturbance observer[J].Transactions of China Electrotechnical Society,2016,31(18):37-45.
[18]牛里,杨明,王庚,等.基于无差拍控制的永磁同步电机鲁棒电流控制算法研究[J].中国电机工程学报,2013,33(15):78-85.Niu Li,Yang Ming,Wang Geng,et al.Research on the robust current control algorithm of permanent magnet synchronous motor based on deadbeat control principle[J].Proceedings of the CSEE,2013,33(15):78-85(in Chinese).
[19]王伟华,肖曦.永磁同步电机高动态响应电流控制方法研究[J].中国电机工程学报,2013,33(21):117-123.Wang Weihua,Xiao Xi.A current control method for permanent magnet synchronous motors with high dynamic performance[J].Proceedings of the CSEE,2013,33(21):117-123(in Chinese).
[20]Zhang Xiaoguang,Hou Benshuai,Mei Yang.Deadbeat predictive current control of permanent-magnet synchronous motors with stator current and disturbance observer[J].IEEE Transactions on Power Electronics,2017,32(5):3818-3834.
[21]王宏佳,徐殿国,杨明.永磁同步电机改进无差拍电流预测控制[J].电工技术学报,2011,26(6):39-45.Wang Hongjia,Xu Dianguo,Yang Ming.Improved deadbeat predictive current control strategy of permanent magnet motor drives[J].Transactions of China Electrotechnical Society,2011,26(6):39-45(in Chinese).