基于线性扩张状态观测器的永磁同步电机状态估计与性能分析
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摘要
针对永磁同步电机(PMSM)矢量控制中的扰动抑制问题,采用多变量的线性扩张状态观测器(LESO),在估计系统状态、负载扰动及不确定性的同时,基于频域法,在参数选取的全范围区间内,系统分析LESO参数选取对估计的收敛性、快速性以及对干扰和测量噪声的鲁棒性影响,给出针对PMSM的LESO参数整定步骤。与已有方法相比,拓宽了LESO参数选取的范围,提高了LESO对PMSM状态的观测效果,进而为改善其控制品质奠定了良好的基础,结果具有理论价值和工程实践指导意义。仿真和实验结果验证了结论的有效性。
Aiming at the problem of disturbance rejection in permanent magnet synchronous motor(PMSM) control, a multi-variable linear extended state observer(LESO) was used to estimate the state, load disturbance and uncertainty of the system. The effects of the parameter selection of LESO on the convergence, rapidity, robustness of interference and noise were systematically analyzed in frequency domain. The steps of LESO parameter tuning for PMSM were also given. Compared with the existing methods, the parameter selection range of LESO is broadened and the observation effect on PMSM state is improved, which lays a good foundation for improving the control quality. The results have theoretical value and engineering practice guiding significance. Simulation and experimental results verified the effectiveness of the conclusions.
Aiming at the problem of disturbance rejection in permanent magnet synchronous motor(PMSM) control, a multi-variable linear extended state observer(LESO) was used to estimate the state, load disturbance and uncertainty of the system. The effects of the parameter selection of LESO on the convergence, rapidity, robustness of interference and noise were systematically analyzed in frequency domain. The steps of LESO parameter tuning for PMSM were also given. Compared with the existing methods, the parameter selection range of LESO is broadened and the observation effect on PMSM state is improved, which lays a good foundation for improving the control quality. The results have theoretical value and engineering practice guiding significance. Simulation and experimental results verified the effectiveness of the conclusions.
引文
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[16]杨明,董晨,王松艳,等.基于有限时间输出反馈的线性扩张状态观测器[J].自动化学报,2015,41(1):59-66.Yang Ming,Dong Chen,Wang Songyan,et al.Linear extended state observer based on finite-time output feedback[J].Acta Automatica Sinica,2015,41(1):59-66.
[17]Meng K,李幼涵.运动控制技术与应用[M].北京:机械工业出版社,2012.
[18]苏剑波.ADRC理论和技术在机器人无标定视觉伺服中的应用和发展[J].控制与决策,2015,30(1):1-8.Su Jianbo.Robotic uncalibrated visual serving based on ADRC[J].Control and Decision,2015,30(1):1-8.
[2]赵希梅,武文斌.基于周期学习扰动观测器的永磁直线同步电机伺服系统控制[J].电工技术学报,2018,33(9):1985-1993.Zhao Ximei,Wu Wenbin.Control of permanent magnet linear synchronous motor servo system based on periodic learning disturbance observer[J].Transactions of China Electrotechnical Society,2018,33(9):1985-1993.
[3]Mahmoud M G,Mohammad El B,Mohammad S.Chattering-free sliding mode observer for speed sensorless control of PMSM[J].Applied Computing and Informatics,2017,13:169-174.
[4]盖江涛,黄守道,黄庆,等.基于负载观测的永磁电机驱动系统自抗扰控制[J].电工技术学报,2016,31(8):29-36.Gai Jiangtao,Huang Shoudao,Huang Qing,et al.Active-disturbance rejection controller for permanent magnet motor drive system control based on load observer[J].Transactions of China Electrotechnical Society,2016,31(8):29-36.
[5]刘自程,李永东,郑泽东.多相电机控制驱动技术研究综述[J].电工技术学报,2017,32(24):17-29.Liu Zicheng,Li Yongdong,Zheng Zedong.Control and drive techniques for multiphase machines:a review[J].Transactions of China Electrotechnical Society,2017,32(24):17-29.
[6]Wang Junping,Guo Jingang,Ding Lei.An adaptive Kalman filtering based state of charge combined estimator for electric vehicle battery pack[J].Energy Conversion and Managenent,2009,50(12):3182-3186.
[7]韩京清.自抗扰控制技术--估计补偿不确定因素的控制技术[M].北京:国防工业出版社,2008.
[8]韩京清.自抗扰控制器及其应用[J].控制与决策,1998,13(1):19-23.Han Jingqing.Auto-disturbance rejection control and its applications[J].Control and Decision,1998,13(1):19-23.
[9]Gao Zhiqiang.Scaling and bandwidth-parameterization based on control tuning[C]//Proceedings of the 2004American Control Conference,Denver,Colorado,2003:4989-4996.
[10]毛海杰,李炜,王可宏,等.基于自抗扰的多电机转速同步系统传感器故障切换容错策略[J].山东大学学报,2017,47(5):64-70.Mao Haijie,Li Wei,Wang Kehong,et al.Sensor fault tolerant switch strategy study for multi-motor synchronous system based on ADRC[J].Journal of Shandong University,2017,47(5):64-70.
[11]Liu Huixian,Li Shihua.Speed control for PMSMservo system using predictive functional control and extended state observer[J].IEEE Transactions on Industrial Electronics,2012,59(2):1171-1183.
[12]魏海峰,韦汉培,张懿.基于扩张状态观测器的永磁同步电机PWM电流预测控制[J].控制与决策,2018,33(2):351-355.Wei Haifeng,Wei Hanpei,Zhang Yi.PWM predictive current control of permanent magnet synchronous motor based on extended state observer[J].Control and Decision,2018,33(2):351-355.
[13]刘晓东.针对一类非线性系统的多变量线性扩张状态观测器及其收敛性分析[J].自动化学报,2016,42(11):1758-1764.Liu Xiaodong.Multi-variable linear extended state observer for a class of nonlinear systems and its convergence analysis[J].Acta Automatica Sinica,2016,42(11):1758-1764.
[14]曾岳南,曾祥彩,周斌.永磁同步电机传动系统电流环非线性自抗扰控制器的设计与稳定性分析[J].电工技术学报,2017,32(17):135-143.Zeng Yuenan,Zeng Xiangcai,Zhou Bin.Nonlinear active disturbance rejection controller design for current loop of PMSM drive system and its stability analysis[J].Transactions of China Electrotechnical Society,2017,32(17):135-143.
[15]邵星灵,王宏伦.线性扩展状态观测器及其高阶形式的性能分析[J].控制与决策,2015,30(5):815-822.Shao Xingling,Wang Honglun.The performance analysis on linear extended state observer and its extension case with higher extended order[J].Control and Decision,2015,30(5):815-822.
[16]杨明,董晨,王松艳,等.基于有限时间输出反馈的线性扩张状态观测器[J].自动化学报,2015,41(1):59-66.Yang Ming,Dong Chen,Wang Songyan,et al.Linear extended state observer based on finite-time output feedback[J].Acta Automatica Sinica,2015,41(1):59-66.
[17]Meng K,李幼涵.运动控制技术与应用[M].北京:机械工业出版社,2012.
[18]苏剑波.ADRC理论和技术在机器人无标定视觉伺服中的应用和发展[J].控制与决策,2015,30(1):1-8.Su Jianbo.Robotic uncalibrated visual serving based on ADRC[J].Control and Decision,2015,30(1):1-8.