融合Levy飞行的教与学优化算法的PMSM参数辨识
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摘要
高精度参数是永磁同步电机实现高性能控制的关键。针对传统永磁同步电机参数辨识方法中存在辨识速度慢和精度低等缺陷,提出了一种融合Levy飞行的教与学优化算法对永磁同步电机进行参数辨识。该算法引入自适应教学因子和自学习策略,提高算法收敛速度。对于学习阶段,引入Levy飞行随机过程改进寻优策略,有效平衡算法的全局搜索和局部开发能力。通过仿真表明,该改进算法能够准确辨识出永磁同步电机定子电阻,dq轴电感和永磁磁链,具有较好的收敛性和可靠性。
High precision parameters are the key for permanent magnet synchronous motor to realize high performance control. To overcome the shortages of slow speed and low identification accuracy in traditional identification methods, a novel teaching-learning-based optimization algorithm with Levy flight is proposed to identify the PMSM parameters. The algorithm introduces adaptive teaching factor and self-learning strategy to improve the convergence speed. As for learning phase, a Levy flight stochastic process is introduced to improve the optimization strategy so that the algorithm can enhance the ability to keep the balance between exploration and exploitation. The simulation results show that the novel algorithm can accurately identify the stator resistance, d-axis, q-axis inductance and the rotor linkage with better convergence and reliability.
High precision parameters are the key for permanent magnet synchronous motor to realize high performance control. To overcome the shortages of slow speed and low identification accuracy in traditional identification methods, a novel teaching-learning-based optimization algorithm with Levy flight is proposed to identify the PMSM parameters. The algorithm introduces adaptive teaching factor and self-learning strategy to improve the convergence speed. As for learning phase, a Levy flight stochastic process is introduced to improve the optimization strategy so that the algorithm can enhance the ability to keep the balance between exploration and exploitation. The simulation results show that the novel algorithm can accurately identify the stator resistance, d-axis, q-axis inductance and the rotor linkage with better convergence and reliability.
引文
[1]Liu K,Zhu Z Q,Stone D A.Parameter Estimation for Condition Monitoring of PMSM Stator Winding and Rotor Permanent Magnets[J].IEEE Transactions on Industrial Electronics(S0278-0046),2013,60(12):5902-5913.
[2]徐鹏,肖建,杨奕,等.永磁同步电机双率残差增广最小二乘参数辨识[J].电机与控制学报,2014,18(4):45-51.Xu Peng,Xiao Jian,Yang Yi,et al.Residual Based Extended Least Squares Identification Method of Permanent Magnet Synchronous Motor Dual-Rate Sampling Data System[J].Electric Machines and Control,2014,18(4):45-51.
[3]荀倩,王培良,李祖欣,等.基于递推最小二乘法的永磁伺服系统参数辨识[J].电工技术学报,2016,31(17):161-169.Xun Qian,Wang Peiliang,Li Zuxin,et al.PMSM Parameters Identification Based on Recursive Least Square Method[J].Transactions of China Electrotechnical Society,2016,31(17):161-169.
[4]史宇超,孙凯,马鸿雁,等.内埋式永磁同步电机永磁磁链的在线辨识[J].电工技术学报,2011,26(9):48-53.Shi Yuchao,Sun Kai,Ma Hongyan,et al.On-line Identification of Permanent magnet Flux in IPMSMDrive[J].Transactions of China Electrotechnical Society,2011,26(9):48-53.
[5]佘致廷,邹薇,董旺华,等.扩展卡尔曼滤波结合前馈补偿永磁同步电机位置估计[J].控制理论与应用,2016,33(10):1312-1318.She Zhiting,Zou Wei,Dong Wanghua,et al.Extended Kalman filters combined with feed-forward compensation for permanent magnet synchronous moter position estimation[J].Control Theory&Applications,2016,33(10):1312-1318.
[6]陈振锋,钟彦儒,李洁.嵌入式永磁同步电机自适应在线参数辨识[J].电机与控制学报,2010,14(4):9-13.Chen Zhenfeng,Zhong Yanru,Li Jie.Online adaptive parameter identification for interior permanent magnet synchronous motor drive[J].Electric Machines and Control,2010,14(4):9-13.
[7]郭伟,王跃,李宁,等.永磁同步电机模型参考自适应无速度控制研究[J].电力电子技术,2016,50(8):75-77.Guo Wei,Wang Yue,Li Ning,et al.A Speed Sensorless Control Strategy for PMSM with Model Refence Adapity[J].Power Electronics,2016,50(8):75-77.
[8]Shi Z,Wang Y,Ji Z.Bias compensation based partially coupled recursive least squares identification algorithm with forgetting factors for MIMO systems:Application to PMSMs[J].Journal of the Franklin Institute(S0016-0032),2016,353(13):3057-3077.
[9]王松,刘明光,石双双,等.基于卡尔曼滤波和神经网络的PMSM参数辨识[J].北京交通大学学报,2010,34(2):124-127.Wang Song,Liu Mingguang,Shi Shuangshuang,et al.Identification of PMSM Based on EKF and Elman Neural Network[J].Journal of BeiJing Jiaotong University,2010,34(2):124-127.
[10]Shi Y.On-Line Identification of Permanent Magnet Flux in IPMSM Drive[J].Transactions of China Electrotechnical Society(S 1000-6753),2011,26(9):48-53.
[11]杨宗军,王莉娜.表贴式永磁同步电机的多参数在线辨识[J].电工技术学报,2014,29(3):111-118.Yang Zongjun,Wang Lina.Online Multi-Parameter Identification for Surface-Mounted Permanent Magnet Synchronous Motors[J].Transactions of China Electrotechnical Society,2014,29(3):111-118.
[12]傅小利,顾红兵,陈国呈,等.基于柯西变异粒子群算法的永磁同步电机参数辨识[J].电工技术学报,2014,29(5):127-131.Fu Xiaoli,Gu Hongbing,Chen Guocheng,et al.Permanent Magnet Synchronous Motors Parameters Identification based on Cauchy Mutation Particle Swarm Optimization[J].Transactions of China Electrotechnical Society,2014,29(5):127-131.
[13]林国汉,章兢,刘朝华,等.改进综合学习粒子群算法的PMSM参数辨识[J].电机与控制学报,2015,19(1):51-57.Ling Guohan,Zhang Jing,Liu Zhaohua,et al.Parameter Identification of PMSM using Improved Comprehensive Learning Particle Swarm Optimization[J].Electric Machines and Control,2015,19(1):51-57.
[14]Rao R V,Patel V.An elitist teaching-learning-based optimization algorithm for solving complex constrained optimization problems[J].International Journal of Industrial Engineering Computations(S1923-2926),2012,3(4):710-720.
[15]李杰,王艳,纪志成.基于改进教与学优化算法的永磁同步电机参数辨识[J].系统仿真学报,2017,29(2):393-401.Li Jie,Wang Yan,Ji Zhicheng.Permanent Magnet Synchronous Motor Parameter Identification Based on Improved Teaching-Learning-Based Optimization[J].Journal of System Simulation,2017,29(2):393-401.
[2]徐鹏,肖建,杨奕,等.永磁同步电机双率残差增广最小二乘参数辨识[J].电机与控制学报,2014,18(4):45-51.Xu Peng,Xiao Jian,Yang Yi,et al.Residual Based Extended Least Squares Identification Method of Permanent Magnet Synchronous Motor Dual-Rate Sampling Data System[J].Electric Machines and Control,2014,18(4):45-51.
[3]荀倩,王培良,李祖欣,等.基于递推最小二乘法的永磁伺服系统参数辨识[J].电工技术学报,2016,31(17):161-169.Xun Qian,Wang Peiliang,Li Zuxin,et al.PMSM Parameters Identification Based on Recursive Least Square Method[J].Transactions of China Electrotechnical Society,2016,31(17):161-169.
[4]史宇超,孙凯,马鸿雁,等.内埋式永磁同步电机永磁磁链的在线辨识[J].电工技术学报,2011,26(9):48-53.Shi Yuchao,Sun Kai,Ma Hongyan,et al.On-line Identification of Permanent magnet Flux in IPMSMDrive[J].Transactions of China Electrotechnical Society,2011,26(9):48-53.
[5]佘致廷,邹薇,董旺华,等.扩展卡尔曼滤波结合前馈补偿永磁同步电机位置估计[J].控制理论与应用,2016,33(10):1312-1318.She Zhiting,Zou Wei,Dong Wanghua,et al.Extended Kalman filters combined with feed-forward compensation for permanent magnet synchronous moter position estimation[J].Control Theory&Applications,2016,33(10):1312-1318.
[6]陈振锋,钟彦儒,李洁.嵌入式永磁同步电机自适应在线参数辨识[J].电机与控制学报,2010,14(4):9-13.Chen Zhenfeng,Zhong Yanru,Li Jie.Online adaptive parameter identification for interior permanent magnet synchronous motor drive[J].Electric Machines and Control,2010,14(4):9-13.
[7]郭伟,王跃,李宁,等.永磁同步电机模型参考自适应无速度控制研究[J].电力电子技术,2016,50(8):75-77.Guo Wei,Wang Yue,Li Ning,et al.A Speed Sensorless Control Strategy for PMSM with Model Refence Adapity[J].Power Electronics,2016,50(8):75-77.
[8]Shi Z,Wang Y,Ji Z.Bias compensation based partially coupled recursive least squares identification algorithm with forgetting factors for MIMO systems:Application to PMSMs[J].Journal of the Franklin Institute(S0016-0032),2016,353(13):3057-3077.
[9]王松,刘明光,石双双,等.基于卡尔曼滤波和神经网络的PMSM参数辨识[J].北京交通大学学报,2010,34(2):124-127.Wang Song,Liu Mingguang,Shi Shuangshuang,et al.Identification of PMSM Based on EKF and Elman Neural Network[J].Journal of BeiJing Jiaotong University,2010,34(2):124-127.
[10]Shi Y.On-Line Identification of Permanent Magnet Flux in IPMSM Drive[J].Transactions of China Electrotechnical Society(S 1000-6753),2011,26(9):48-53.
[11]杨宗军,王莉娜.表贴式永磁同步电机的多参数在线辨识[J].电工技术学报,2014,29(3):111-118.Yang Zongjun,Wang Lina.Online Multi-Parameter Identification for Surface-Mounted Permanent Magnet Synchronous Motors[J].Transactions of China Electrotechnical Society,2014,29(3):111-118.
[12]傅小利,顾红兵,陈国呈,等.基于柯西变异粒子群算法的永磁同步电机参数辨识[J].电工技术学报,2014,29(5):127-131.Fu Xiaoli,Gu Hongbing,Chen Guocheng,et al.Permanent Magnet Synchronous Motors Parameters Identification based on Cauchy Mutation Particle Swarm Optimization[J].Transactions of China Electrotechnical Society,2014,29(5):127-131.
[13]林国汉,章兢,刘朝华,等.改进综合学习粒子群算法的PMSM参数辨识[J].电机与控制学报,2015,19(1):51-57.Ling Guohan,Zhang Jing,Liu Zhaohua,et al.Parameter Identification of PMSM using Improved Comprehensive Learning Particle Swarm Optimization[J].Electric Machines and Control,2015,19(1):51-57.
[14]Rao R V,Patel V.An elitist teaching-learning-based optimization algorithm for solving complex constrained optimization problems[J].International Journal of Industrial Engineering Computations(S1923-2926),2012,3(4):710-720.
[15]李杰,王艳,纪志成.基于改进教与学优化算法的永磁同步电机参数辨识[J].系统仿真学报,2017,29(2):393-401.Li Jie,Wang Yan,Ji Zhicheng.Permanent Magnet Synchronous Motor Parameter Identification Based on Improved Teaching-Learning-Based Optimization[J].Journal of System Simulation,2017,29(2):393-401.