线性自抗扰控制策略在异步电机调速系统中的应用研究
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摘要
现代工业的发展对异步电动机的性能提出了越来越高的要求,而异步电动机难以建立精确的数学模型和PI调节器的矢量控制系统参数鲁棒性差两大问题的存在使得上述要求难以满足。为此,本文首次将线性自抗扰控制器(LADRC)用于异步电机调速系统。线性自抗扰控制器是在自抗扰控制器的基础上发展起来的,但它不是简单的倒退,应该说,自抗扰控制器是线性自抗扰控制器发展的必经阶段,线性自抗扰控制器是为解决自抗扰控制器参数多且整定困难的问题提出来的,用它代替PID调节器对异步电动机进行控制,既能满足对异步电机高性能的要求,又便于工程中使用。
LADRC的结构决定了它不需要电机的精确数学模型,通过线性扩张状态观测器估计出电机模型中的耦合项及参数摄动等引起的总扰动并加以补偿,实现了磁链和转矩的完全解耦,使系统线性化为积分器串联型结构,从而简化了控制对象,提高了控制性能。另外,文中对线性自抗扰控制器的稳定性进行了证明。
经过分析发现,由于都是建立在α-β坐标系中,MRAS磁链观测器和基于ESO的磁链观测器观测出的α、β轴的磁链正、负半周幅值不等,使得总磁链具有纹波,并且,上述两个磁链观测器也存在对转子电阻的鲁棒性差的问题。文中引入一个建立在旋转坐标系中的磁链观测器,结构简单,对转子电阻具有固有的鲁棒性。由于此观测器和基于LADRC的矢量控制都建立在旋转坐标系中,因此,控制器和磁链观测器之间不需要坐标变换,简化了系统结构。
基于LADRC和磁链观测器,建立了具有转速、磁链和d、q轴电流环的异步电机调速系统。在磁链观测的基础上,根据矢量控制理论,采用q轴磁链收敛于零估计转速,从而建立了无速度传感器矢量控制异步电机调速系统。
利用MATLAB/SIMULINK对上述两个系统在空载起动、突加负载、转速变化、转子电阻变化、转动惯量变化等情况进行仿真,并与PID异步电机调速系统进行了比较。结果表明此控制方案具有很好的动、静态性能;对负载扰动、电机参数变化等具有很强的鲁棒性;结构简单,设计和参数调节容易。而这些使LADRC将成为新型实用数字控制技术。
最后,将线性自抗扰控制器应用于升船机控制中,解决了多电机同步控制问题,满足了升船机中平稳加、减速控制、出力均衡控制及冗余控制的要求。
As the development of modern industry, requirement to control of induction motor is becoming higher and higher. However, it is difficult to meet because of two problems that the poor robustness to time-varying motor parameter exists in the common vector control system and the accurate mathematical model of induction motor is built difficultly. Therefore, the Linear Active Disturbance Rejection Controller (LADRC) is firstly used in the induction motor drive in this dissertation. LADRC has been developed based on Active Disturbance Rejection Controller (ADRC). This is not countermarch, should say, ADRC is an inevitable stage of LADRC. LADRC is proposed in order to solve the problem that ADRC has too many parameters and is difficult to tune. If LADRC is used in induction motor drive instead of PID, it not only meets the requirement to induction motor but also is convenient to engineering application.
Because of the special structure, LADRC is not overly dependent on the accurate mathematical model of motor and can estimate and compensate the general disturbance that includes the unknown internal dynamics and the external disturbance by linear extended state observer, so the rotor flux decouples with torque completely and the complex control of inductor motor is simplified to the linear control. The result is the performance of the system is improved. Moreover, the stability of LADRC is proved.
After analysis, it is found that positive and negative amplitudes ofα-axis rotor flux obtained by MRAS or ESO flux observer are not equal, andβ-axis rotor flux is the same, as a result, the total rotor flux has ripple. The reason is that MRAS and ESO flux observers are built inα-βCoordinate. Furthermore, the above flux observers are not robust enough to rotor resistance. The flux observer presented in this dissertation is in rotating reference frame. It is simple and inherently robust to rotor resistance. In addition, because this rotor flux observer and vector control based on LADRC are in rotating reference frame, coordinate Transformation is not needed between them, so the structure of the system is simplified.
The induction motor drive with speed, rotor flux, d-axis and q-axis current loops is built based on LADRC and rotor flux observer. According to vector control theory and on the foundation of rotor flux estimation, we utilize the q-axis rotor flux converging to zero for speed estimation and a sensorless vector control induction motor drive is also built.
To verify the performances of the above systems, A lot of comparative simulations were made with the induction motor drive using PID regulator under set point change, large inertia and rotor resistance variations, and external torque disturbance in MATLAB/SIMULINK. Simulation results show that the above control strategy has better static and dynamic performances, strong robustness to external torque disturbance and prarmeter perturbation, as well as simple structure , easy design and parameter tuning. All of these will make LADRC become a novel, practical and digital control technology.
Lastly, LADRC is used in control system of ship elevator, which is a multi-motor control system. Simulation results show that LADRC can meet the requirements of ship elecator to smooth accelerating and decelerating control, load balancing control and redundant control.
LADRC的结构决定了它不需要电机的精确数学模型,通过线性扩张状态观测器估计出电机模型中的耦合项及参数摄动等引起的总扰动并加以补偿,实现了磁链和转矩的完全解耦,使系统线性化为积分器串联型结构,从而简化了控制对象,提高了控制性能。另外,文中对线性自抗扰控制器的稳定性进行了证明。
经过分析发现,由于都是建立在α-β坐标系中,MRAS磁链观测器和基于ESO的磁链观测器观测出的α、β轴的磁链正、负半周幅值不等,使得总磁链具有纹波,并且,上述两个磁链观测器也存在对转子电阻的鲁棒性差的问题。文中引入一个建立在旋转坐标系中的磁链观测器,结构简单,对转子电阻具有固有的鲁棒性。由于此观测器和基于LADRC的矢量控制都建立在旋转坐标系中,因此,控制器和磁链观测器之间不需要坐标变换,简化了系统结构。
基于LADRC和磁链观测器,建立了具有转速、磁链和d、q轴电流环的异步电机调速系统。在磁链观测的基础上,根据矢量控制理论,采用q轴磁链收敛于零估计转速,从而建立了无速度传感器矢量控制异步电机调速系统。
利用MATLAB/SIMULINK对上述两个系统在空载起动、突加负载、转速变化、转子电阻变化、转动惯量变化等情况进行仿真,并与PID异步电机调速系统进行了比较。结果表明此控制方案具有很好的动、静态性能;对负载扰动、电机参数变化等具有很强的鲁棒性;结构简单,设计和参数调节容易。而这些使LADRC将成为新型实用数字控制技术。
最后,将线性自抗扰控制器应用于升船机控制中,解决了多电机同步控制问题,满足了升船机中平稳加、减速控制、出力均衡控制及冗余控制的要求。
As the development of modern industry, requirement to control of induction motor is becoming higher and higher. However, it is difficult to meet because of two problems that the poor robustness to time-varying motor parameter exists in the common vector control system and the accurate mathematical model of induction motor is built difficultly. Therefore, the Linear Active Disturbance Rejection Controller (LADRC) is firstly used in the induction motor drive in this dissertation. LADRC has been developed based on Active Disturbance Rejection Controller (ADRC). This is not countermarch, should say, ADRC is an inevitable stage of LADRC. LADRC is proposed in order to solve the problem that ADRC has too many parameters and is difficult to tune. If LADRC is used in induction motor drive instead of PID, it not only meets the requirement to induction motor but also is convenient to engineering application.
Because of the special structure, LADRC is not overly dependent on the accurate mathematical model of motor and can estimate and compensate the general disturbance that includes the unknown internal dynamics and the external disturbance by linear extended state observer, so the rotor flux decouples with torque completely and the complex control of inductor motor is simplified to the linear control. The result is the performance of the system is improved. Moreover, the stability of LADRC is proved.
After analysis, it is found that positive and negative amplitudes ofα-axis rotor flux obtained by MRAS or ESO flux observer are not equal, andβ-axis rotor flux is the same, as a result, the total rotor flux has ripple. The reason is that MRAS and ESO flux observers are built inα-βCoordinate. Furthermore, the above flux observers are not robust enough to rotor resistance. The flux observer presented in this dissertation is in rotating reference frame. It is simple and inherently robust to rotor resistance. In addition, because this rotor flux observer and vector control based on LADRC are in rotating reference frame, coordinate Transformation is not needed between them, so the structure of the system is simplified.
The induction motor drive with speed, rotor flux, d-axis and q-axis current loops is built based on LADRC and rotor flux observer. According to vector control theory and on the foundation of rotor flux estimation, we utilize the q-axis rotor flux converging to zero for speed estimation and a sensorless vector control induction motor drive is also built.
To verify the performances of the above systems, A lot of comparative simulations were made with the induction motor drive using PID regulator under set point change, large inertia and rotor resistance variations, and external torque disturbance in MATLAB/SIMULINK. Simulation results show that the above control strategy has better static and dynamic performances, strong robustness to external torque disturbance and prarmeter perturbation, as well as simple structure , easy design and parameter tuning. All of these will make LADRC become a novel, practical and digital control technology.
Lastly, LADRC is used in control system of ship elevator, which is a multi-motor control system. Simulation results show that LADRC can meet the requirements of ship elecator to smooth accelerating and decelerating control, load balancing control and redundant control.
引文
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