交流伺服系统转动惯量实时辨识与控制器研究
摘要
随着永磁同步电机技术的高速发展,其应用也越来越广泛,中型永磁同步电机开始应用于电动汽车技术,小型及微型永磁同步电机在伺服系统中所占的份额正逐渐的扩大。在使用永磁同步电机的交流伺服系统中,往往对系统的动态响应性能要求较高,伺服系统对外界干扰信号比较敏感,转动惯量的变化会直接影响交流伺服系统的性能。辨识后的系统调整也有重要意义。
本文提出了一种非线性改变自适应增益的模型参考自适应辨识算法。在基于常规模型参考自适应的转动惯量辨识中,一旦有外部负载转矩扰动的情况下,转动惯量的辨识会受到很大的干扰,出现比较大的误差,本文针对此情况提出改进算法,对自适应增益进行非线性调整,增强了辨识系统的抗干扰性。
针对基于扩展卡尔曼转动惯量辨识参数矩阵对于转动惯量辨识的影响,提出了一种协方差矩阵参数自适应法,由一般EKF辨识的固定参数,改为以前一时刻正确辨识值为参考的变化参数,很好的提高了在转动惯量频繁变化的情况下EKF的辨识能力和速度。
在正确辨识得到交流伺服系统转动惯量的基础上,分析了一种简单速度控制器PI参数自整定的算法,由辨识得到的转动惯量,进行比例的调节PI参数,能够使系统的性能不受转动惯量变化的影响。自抗扰控制器在近年来得到了大量的应用,本文将自抗扰控制器应用于伺服系统中作为速度控制器,在外部负载转矩扰动以及转动惯量变化的情况和传统的PID控制器进行了对比,取得了较好的控制效果。
针对外部负载转矩有一定规律的情况下,设计了一种基于模型补偿的自寻最优ADRC,利用辨识得到的转动惯量和负载转矩对ADRC的扩展状态观测器进行补偿,减轻了观测器的负担,提高了观测其他内部和外部扰动的速度,改善了自抗扰控制器的控制性能。
With the development of permanent magnet synchronous motor, middle-sized PMSM is used in electric vehicle technology, the portion of small type PMSM and microtype PMSM in servo system is increasing. The standard for the dynamic characteristic of AC servo is much higher. AC servo system is sensitive to the interference signal, the variation of system inertia will impact the performance of the system.
This thesis proposes a method using model reference adaptive identification, which changes the adaptive gain nonlinearly. In the MRAI identification of inertia, when the system is interferenced by the load torque, the result is badly influenced and the error is significant. Specific to the problem, the thesis proposes a improvement of tuning the adaptive gain of MRAI and inhance the anti-interference of identification system.
In order to reduce the influence of covariance matrix in extended kalman filter identification, the thesis proposes a method to adaptive tuning covariance matrix. The original covariance matrix is set to an invariant value, this improvement tuning the value in according to the previous stable value.When inertia changes frequently, this algorithm improves the identified speed and capabilty.
Based on the result of indentification, the thesis analyzes a simple algrithm of tuning speed controller. Once the inertia changed, set the PI of speed controller propotionally to the identification value. That can keep the system characterisitic. The automatic disturbance rejection contoller(ADRC) is being used widely, it can also be used in ac servo system. The thesis applys ADRC in speed controller, analyzes and contrasts the effects with traditonal PID in situation of the inertia and load torque is diturbed.
A model-based auto optimal ADRC is designed to work under the situation when the load torque is periodic variation. Compensating the reasult of identification into ESO of ADRC, alleviate the burden of ESO and improve the speed of observer, make the characteristic of ADRC controller better.
本文提出了一种非线性改变自适应增益的模型参考自适应辨识算法。在基于常规模型参考自适应的转动惯量辨识中,一旦有外部负载转矩扰动的情况下,转动惯量的辨识会受到很大的干扰,出现比较大的误差,本文针对此情况提出改进算法,对自适应增益进行非线性调整,增强了辨识系统的抗干扰性。
针对基于扩展卡尔曼转动惯量辨识参数矩阵对于转动惯量辨识的影响,提出了一种协方差矩阵参数自适应法,由一般EKF辨识的固定参数,改为以前一时刻正确辨识值为参考的变化参数,很好的提高了在转动惯量频繁变化的情况下EKF的辨识能力和速度。
在正确辨识得到交流伺服系统转动惯量的基础上,分析了一种简单速度控制器PI参数自整定的算法,由辨识得到的转动惯量,进行比例的调节PI参数,能够使系统的性能不受转动惯量变化的影响。自抗扰控制器在近年来得到了大量的应用,本文将自抗扰控制器应用于伺服系统中作为速度控制器,在外部负载转矩扰动以及转动惯量变化的情况和传统的PID控制器进行了对比,取得了较好的控制效果。
针对外部负载转矩有一定规律的情况下,设计了一种基于模型补偿的自寻最优ADRC,利用辨识得到的转动惯量和负载转矩对ADRC的扩展状态观测器进行补偿,减轻了观测器的负担,提高了观测其他内部和外部扰动的速度,改善了自抗扰控制器的控制性能。
With the development of permanent magnet synchronous motor, middle-sized PMSM is used in electric vehicle technology, the portion of small type PMSM and microtype PMSM in servo system is increasing. The standard for the dynamic characteristic of AC servo is much higher. AC servo system is sensitive to the interference signal, the variation of system inertia will impact the performance of the system.
This thesis proposes a method using model reference adaptive identification, which changes the adaptive gain nonlinearly. In the MRAI identification of inertia, when the system is interferenced by the load torque, the result is badly influenced and the error is significant. Specific to the problem, the thesis proposes a improvement of tuning the adaptive gain of MRAI and inhance the anti-interference of identification system.
In order to reduce the influence of covariance matrix in extended kalman filter identification, the thesis proposes a method to adaptive tuning covariance matrix. The original covariance matrix is set to an invariant value, this improvement tuning the value in according to the previous stable value.When inertia changes frequently, this algorithm improves the identified speed and capabilty.
Based on the result of indentification, the thesis analyzes a simple algrithm of tuning speed controller. Once the inertia changed, set the PI of speed controller propotionally to the identification value. That can keep the system characterisitic. The automatic disturbance rejection contoller(ADRC) is being used widely, it can also be used in ac servo system. The thesis applys ADRC in speed controller, analyzes and contrasts the effects with traditonal PID in situation of the inertia and load torque is diturbed.
A model-based auto optimal ADRC is designed to work under the situation when the load torque is periodic variation. Compensating the reasult of identification into ESO of ADRC, alleviate the burden of ESO and improve the speed of observer, make the characteristic of ADRC controller better.
引文
[1]二相伺服电机. JIS C4907-1991[S],1991:1-2.
[2]秦亿.现代交流伺服系统[M].武汉:华中理工大学出版社,1994:1.
[3]郭庆鼎,王成元.交流伺服系统[M].北京:机械工业出版社,1994.
[4] Guo Y J, Huang L P, Qiu Y, et al. Inertia Identification and Auto-Tuning of Induction Motor Using MRAS[C]. Power Electronics and Motion Control Conference,2000. Proceedings. IPEMC 2000, 2000 (2):1006-1011.
[5]王晓伟.永磁交流伺服系统的惯量辨识[J].机床与液压,2008,36(8):299-300.
[6] Nahid-Mobarakeh B, Meibody-Tabar F, Sargos P M. State and Disturbance Observers in Mechanical Sensorless Control of PMSM[C]. IEEE International Conference on Industrial Technology, 2004, 1:181-186.
[7] Andoh F. Inertia Identification of Mechatronic Servo Systems with Infinitesimal Motions[C]. IEEE International Conference on Automation Science and Engineering, 2007:925-932.
[8] Seok-Joon H, Heui-Wook K, Seung-Ki S. A Novel Inertia Identification Method for Speed Control of Electric Machine[C]. IEEE Conference on Industrial Electronics Control and Instrumentation, 1996,2:1234-1239.
[9] Schutte F, Beineke S, Rolfsmeier A, et al. Online identification of Mechanical Parameters Using Extended Kalman Filters[C]. Industry Applications Conference Thirty-Second IAS Annual Meeting, 1997,1:501-508.
[10]夏加宽,盛丽君.转台系统转动惯量辨识与控制器参数自调整[J].沈阳工业大学学报,2008,30(6):605-608.
[11] Kojabadi H M, Liu C C, Doraiswami R A. MRAS-based Adaptive Pseudoreduced-order Flux Observer for Sensorless Induction Motor Drives[J].IEEE Trans. on Power Electronics, 2005, 20(4):930-938.
[12] Ban Z, Crnosija P. Application of the MRAC with simplified discrete parameter adaptation algorithm for control of the DC electromotor drive[C]. IEEE Conference on Industrial Technology, 2003, 1:506-511.
[13]沈艳霞,刘永钦.基于改进型模型参考自适应的PMSM参数辨识[J].电气传动,2009,5:47-50.
[14]张侨,沈安文.交流伺服系统速度控制器参数在线整定的简便算法[J].微电机,2008,41(8):1-4.
[15] El-Sousy F F M. Robust Wavelet Neural-Network Sliding-mode Control System for Permanent Magnet Synchronous Motor Drive[J]. Electric Power Applications, 2011, 5(1):113-132.
[16] Hongkui L, Qinlin W. Sliding Mode Controller Based on FuzzyNeural-Network Optimization for Direct Torque Controlled PMSM[C].2O1O8th World Congress on Intelligent Control and Automation, 2010:2434-2438.
[17] Jung J W, Choi Y S, Leu V Q, Choi H H. Fuzzy Pi-type Current Controllersfor Permanent Magnet Synchronous Motors [J]. Electric Power Applications [J],2011, 5(1):143-152.
[18] Chaoui H, Sicard P. Adaptive Fuzzy Logic Control of Permanent MagnetSynchronous Machines with Nonlinear Friction[J]. IEEE Trans on Industrial
[19]郭庆鼎,赵希梅.自动识别永磁交流伺服系统的负载惯量和优化控制器参数[J].伺服技术,2008(6):54-56.
[20]徐东,王田苗,刘敬猛,等.永磁同步电机电流环自适应复合控制方法究[J].系统仿真学报,2009(22):7199-7204.
[21]刘希喆，吴捷.永磁直线同步电动机速度环自抗扰控制器的设计[J].电工技术学报,2004,19(4):6-11.
[22]吴永前,李玉忍.扩展kalman滤波在永磁同步电机无速度传感器调速系统中的应用[J].电气传动自动化,2001,23(6):3-6.
[23]郭宇婕,黄立培,邱阳.交流伺服系统的转动惯量辨识及调节器参数自整定[J].清华大学学报,2002,42(9):1180-1183.
[24]余佩琼,陆亿红,顾红斐,等.基于EKF的永磁直线电机无位置给系统研究[J].浙江工业大学学报,2006,34(6):647-651.
[25]韩京清.自抗扰控制技术[J].前沿科学,2007,1:24-31.
[26]韩京清.从PID技术到“自抗扰控制”技术[J].控制工程,2002,9(3).
[27]盛洁波,李建军.感应电机变增益PI速度控制器的设计[J].电气传动,2009,39(9):14-20.
[28]韩京清.自抗扰控制器及其应用[J].控制与决策,1998,13(1):19-23.
[29] Gao J L, Zhang Y F. Research on Parameter Identification and of PMSM[C]. 2010 2nd International Conference on Information Science and Engineering, 2010:5251-5254.
[30] Dumnic B, Matic D, Katic Vl MRAS Speed Estimation for Induction Generator in Wind Turbine Application[C]. 15th IEEE Electrotechnic Conference, 2010:949-954.
[31] Boileau T, Leboeuf N, Nahid-M B, Meibody-T F. On-line Identification of PMSMs Parameters:Parameters Identifiability and Estimators Comparative Study[J]. IEEE Trans on Industry Applications, 2011:99.
[32] Vyncke T J, Boel R K, Melkebeek J A A. On the Stator Flux Linkage Estimation of An PMSM with Extended Kalman Filters [C]. IET International Conference on Power Electronics, Machines and Drives, 2010:1-6.
[33] Vosmik D, Sutnar Z, Peroutka Z. Application of Extended Kalman Filter for Parameter Identification of Electric Drives [C]. 2010 International Conferencenn Armiiprl Fipr-trnnir-c 9010-1-4
[34]周旭,石航飞,陈志锦.交流伺服系统负载转矩辨识与速度补偿算法研究[J].兵工自动化,2008,27(1):83-84.
[35] Liu Z G, Li S H. A Towfor Permanent Magnetic Synchronous Motor[C]. Chinese Control Conference, 2007:68-71.
[36] Sun K, Zhao Y L. A New Robust Algorithm to Improve the Dynamic Performance on The Position Control of Magn2010 2nd International Conference on Future Computer and Communication, 2010,3:258-272.
[37] ang H B, Zhao R X, Chen F B, et alfor PMSM Servo System Applied in Industrial Sewing Machines[C]. 2010 International Conference on Electrical and 2010:3249-3252.
[38]刘志刚,李世华.基于永磁同步电机模型辨识与中国电机工程学报,2008,28(24):118-123.
[39]张荣,韩京清.用模型补偿自抗扰控制器进行参数辨识[J].用,2000,17(1):79-81.
[40] Liu L Y, Xu Z L, Mei Q. Induction Motor Drive System Based on ADRC and PI Regulator[J]. International Workshop on Intelligent Systems and Applications, 20
[41]武瑞兵,王淑红.基于S函数的永磁同步电动机模糊控制系统研究[J].微电机,2008,41(2):32-42.
[42]吴正成,纪志成.基于等价输入干扰估计器的PMSM自抗扰控制[J].微特电机,2010,9:43-80.
[43]付永领,刘和松,庞尧,等.用于直驱式机电作动器的PMSM自抗扰控制研究[J].四川大学学报(工程科学版),2011,42(2):122-127.
[44]孙毅.自抗扰技术的电动汽车用永磁同步电机控制[J].汽车工程师, 2009(1):30-32.
[45]盖廓,万健如,许镇琳,等.高性能永磁同步电机位置伺服系统建模与仿真[J].计算机仿真,2007,24(5):312-315.
[2]秦亿.现代交流伺服系统[M].武汉:华中理工大学出版社,1994:1.
[3]郭庆鼎,王成元.交流伺服系统[M].北京:机械工业出版社,1994.
[4] Guo Y J, Huang L P, Qiu Y, et al. Inertia Identification and Auto-Tuning of Induction Motor Using MRAS[C]. Power Electronics and Motion Control Conference,2000. Proceedings. IPEMC 2000, 2000 (2):1006-1011.
[5]王晓伟.永磁交流伺服系统的惯量辨识[J].机床与液压,2008,36(8):299-300.
[6] Nahid-Mobarakeh B, Meibody-Tabar F, Sargos P M. State and Disturbance Observers in Mechanical Sensorless Control of PMSM[C]. IEEE International Conference on Industrial Technology, 2004, 1:181-186.
[7] Andoh F. Inertia Identification of Mechatronic Servo Systems with Infinitesimal Motions[C]. IEEE International Conference on Automation Science and Engineering, 2007:925-932.
[8] Seok-Joon H, Heui-Wook K, Seung-Ki S. A Novel Inertia Identification Method for Speed Control of Electric Machine[C]. IEEE Conference on Industrial Electronics Control and Instrumentation, 1996,2:1234-1239.
[9] Schutte F, Beineke S, Rolfsmeier A, et al. Online identification of Mechanical Parameters Using Extended Kalman Filters[C]. Industry Applications Conference Thirty-Second IAS Annual Meeting, 1997,1:501-508.
[10]夏加宽,盛丽君.转台系统转动惯量辨识与控制器参数自调整[J].沈阳工业大学学报,2008,30(6):605-608.
[11] Kojabadi H M, Liu C C, Doraiswami R A. MRAS-based Adaptive Pseudoreduced-order Flux Observer for Sensorless Induction Motor Drives[J].IEEE Trans. on Power Electronics, 2005, 20(4):930-938.
[12] Ban Z, Crnosija P. Application of the MRAC with simplified discrete parameter adaptation algorithm for control of the DC electromotor drive[C]. IEEE Conference on Industrial Technology, 2003, 1:506-511.
[13]沈艳霞,刘永钦.基于改进型模型参考自适应的PMSM参数辨识[J].电气传动,2009,5:47-50.
[14]张侨,沈安文.交流伺服系统速度控制器参数在线整定的简便算法[J].微电机,2008,41(8):1-4.
[15] El-Sousy F F M. Robust Wavelet Neural-Network Sliding-mode Control System for Permanent Magnet Synchronous Motor Drive[J]. Electric Power Applications, 2011, 5(1):113-132.
[16] Hongkui L, Qinlin W. Sliding Mode Controller Based on FuzzyNeural-Network Optimization for Direct Torque Controlled PMSM[C].2O1O8th World Congress on Intelligent Control and Automation, 2010:2434-2438.
[17] Jung J W, Choi Y S, Leu V Q, Choi H H. Fuzzy Pi-type Current Controllersfor Permanent Magnet Synchronous Motors [J]. Electric Power Applications [J],2011, 5(1):143-152.
[18] Chaoui H, Sicard P. Adaptive Fuzzy Logic Control of Permanent MagnetSynchronous Machines with Nonlinear Friction[J]. IEEE Trans on Industrial
[19]郭庆鼎,赵希梅.自动识别永磁交流伺服系统的负载惯量和优化控制器参数[J].伺服技术,2008(6):54-56.
[20]徐东,王田苗,刘敬猛,等.永磁同步电机电流环自适应复合控制方法究[J].系统仿真学报,2009(22):7199-7204.
[21]刘希喆，吴捷.永磁直线同步电动机速度环自抗扰控制器的设计[J].电工技术学报,2004,19(4):6-11.
[22]吴永前,李玉忍.扩展kalman滤波在永磁同步电机无速度传感器调速系统中的应用[J].电气传动自动化,2001,23(6):3-6.
[23]郭宇婕,黄立培,邱阳.交流伺服系统的转动惯量辨识及调节器参数自整定[J].清华大学学报,2002,42(9):1180-1183.
[24]余佩琼,陆亿红,顾红斐,等.基于EKF的永磁直线电机无位置给系统研究[J].浙江工业大学学报,2006,34(6):647-651.
[25]韩京清.自抗扰控制技术[J].前沿科学,2007,1:24-31.
[26]韩京清.从PID技术到“自抗扰控制”技术[J].控制工程,2002,9(3).
[27]盛洁波,李建军.感应电机变增益PI速度控制器的设计[J].电气传动,2009,39(9):14-20.
[28]韩京清.自抗扰控制器及其应用[J].控制与决策,1998,13(1):19-23.
[29] Gao J L, Zhang Y F. Research on Parameter Identification and of PMSM[C]. 2010 2nd International Conference on Information Science and Engineering, 2010:5251-5254.
[30] Dumnic B, Matic D, Katic Vl MRAS Speed Estimation for Induction Generator in Wind Turbine Application[C]. 15th IEEE Electrotechnic Conference, 2010:949-954.
[31] Boileau T, Leboeuf N, Nahid-M B, Meibody-T F. On-line Identification of PMSMs Parameters:Parameters Identifiability and Estimators Comparative Study[J]. IEEE Trans on Industry Applications, 2011:99.
[32] Vyncke T J, Boel R K, Melkebeek J A A. On the Stator Flux Linkage Estimation of An PMSM with Extended Kalman Filters [C]. IET International Conference on Power Electronics, Machines and Drives, 2010:1-6.
[33] Vosmik D, Sutnar Z, Peroutka Z. Application of Extended Kalman Filter for Parameter Identification of Electric Drives [C]. 2010 International Conferencenn Armiiprl Fipr-trnnir-c 9010-1-4
[34]周旭,石航飞,陈志锦.交流伺服系统负载转矩辨识与速度补偿算法研究[J].兵工自动化,2008,27(1):83-84.
[35] Liu Z G, Li S H. A Towfor Permanent Magnetic Synchronous Motor[C]. Chinese Control Conference, 2007:68-71.
[36] Sun K, Zhao Y L. A New Robust Algorithm to Improve the Dynamic Performance on The Position Control of Magn2010 2nd International Conference on Future Computer and Communication, 2010,3:258-272.
[37] ang H B, Zhao R X, Chen F B, et alfor PMSM Servo System Applied in Industrial Sewing Machines[C]. 2010 International Conference on Electrical and 2010:3249-3252.
[38]刘志刚,李世华.基于永磁同步电机模型辨识与中国电机工程学报,2008,28(24):118-123.
[39]张荣,韩京清.用模型补偿自抗扰控制器进行参数辨识[J].用,2000,17(1):79-81.
[40] Liu L Y, Xu Z L, Mei Q. Induction Motor Drive System Based on ADRC and PI Regulator[J]. International Workshop on Intelligent Systems and Applications, 20
[41]武瑞兵,王淑红.基于S函数的永磁同步电动机模糊控制系统研究[J].微电机,2008,41(2):32-42.
[42]吴正成,纪志成.基于等价输入干扰估计器的PMSM自抗扰控制[J].微特电机,2010,9:43-80.
[43]付永领,刘和松,庞尧,等.用于直驱式机电作动器的PMSM自抗扰控制研究[J].四川大学学报(工程科学版),2011,42(2):122-127.
[44]孙毅.自抗扰技术的电动汽车用永磁同步电机控制[J].汽车工程师, 2009(1):30-32.
[45]盖廓,万健如,许镇琳,等.高性能永磁同步电机位置伺服系统建模与仿真[J].计算机仿真,2007,24(5):312-315.