基于自抗扰的无刷直流电机控制方法的研究及仿真
摘要
课题针对目前无刷直流电机控制存在的问题,提出了基于自抗扰方法的无刷直流电机控制方法,并通过理论和仿真试验对相关问题展开研究。课题的研究内容具有一定的理论意义和实际意义。
首先研究了无刷直流电机的数学模型。对其各相电压,电磁转矩,运动方程等进行了描述。
其次研究了自抗扰控制器的理论基础,对其跟踪微分器,扩张状态观测器等理论进行了阐述。最后给出自抗扰控制系统结构框图,并分析了跟踪微分器和扩张状态观测器数学描述中参数的特点。
在自抗扰控制基本理论及无刷直流电机的数学模型的基础上,从理论和实验两个方面完成了无刷直流电机自抗扰控制方法的研究。论文重点解决了三个方面的问题:(1)完成了无刷直流电机自抗扰控制方法的研究,建立了无刷直流电机转速自抗扰控制算法。(2)针对自抗扰控制器设计的参数整定问题,给出了无刷直流电机自抗扰控制系统参数整定方法;(3)在matlab环境下将设计完成的无刷直流电机自抗扰控制器建立其仿真模型,并在不同的工作条件下考查自抗扰控制器的控制效果。
仿真实验结果表明,本设计提出的无刷直流电动机控制方法具有良好的瞬态性能和稳态性能,具有良好的控制效果以及广泛的应用范围。
Considered the existent problems of BLDCM at present,a control method of BLDCM based on Auto-disturbances-rejection is promoted,and it studies the related issues through theoretical and simulation.The subject of research has a certain theoretical and practical significance.
Initially study the mathematical model of the BLDCM.Including phase voltage, electromagnetic torque,equations of motion are described.
Secondly ADRC theoretical foundation is studied,such as tracking differentiator(TD),the extended states observer(ESO) which is illuminated. Subsequently the framework of Auto-disturbances-rejection is given,and the characteristics of the parameters in the mathematical description of tracking differentiator and extended states observer are analysed.
Based on the theory of ADRC control method and the mathematical model of the BLDCM,complete the research of auto disturbances rejection control method of BLDCM from both theoretical and experimental aspects.Papers focus on three aspects.(1)Complete the research of auto disturbances rejection control method of BLDCM and establish the speed ADRC algorithm of BLDCM.(2)In view of adjusting parameters problem in ADRC design,parameters adjusting method in BLDCM using ADRC is given.(3)Build the simulation model of BLDCM using ADRC at matlab environment,and examine the control effect under different working conditions.
The experimental results show that the ADRC control method of the BLDCM has good transient performance,steady-state performance,excellent control effects and a wide range of applications.
首先研究了无刷直流电机的数学模型。对其各相电压,电磁转矩,运动方程等进行了描述。
其次研究了自抗扰控制器的理论基础,对其跟踪微分器,扩张状态观测器等理论进行了阐述。最后给出自抗扰控制系统结构框图,并分析了跟踪微分器和扩张状态观测器数学描述中参数的特点。
在自抗扰控制基本理论及无刷直流电机的数学模型的基础上,从理论和实验两个方面完成了无刷直流电机自抗扰控制方法的研究。论文重点解决了三个方面的问题:(1)完成了无刷直流电机自抗扰控制方法的研究,建立了无刷直流电机转速自抗扰控制算法。(2)针对自抗扰控制器设计的参数整定问题,给出了无刷直流电机自抗扰控制系统参数整定方法;(3)在matlab环境下将设计完成的无刷直流电机自抗扰控制器建立其仿真模型,并在不同的工作条件下考查自抗扰控制器的控制效果。
仿真实验结果表明,本设计提出的无刷直流电动机控制方法具有良好的瞬态性能和稳态性能,具有良好的控制效果以及广泛的应用范围。
Considered the existent problems of BLDCM at present,a control method of BLDCM based on Auto-disturbances-rejection is promoted,and it studies the related issues through theoretical and simulation.The subject of research has a certain theoretical and practical significance.
Initially study the mathematical model of the BLDCM.Including phase voltage, electromagnetic torque,equations of motion are described.
Secondly ADRC theoretical foundation is studied,such as tracking differentiator(TD),the extended states observer(ESO) which is illuminated. Subsequently the framework of Auto-disturbances-rejection is given,and the characteristics of the parameters in the mathematical description of tracking differentiator and extended states observer are analysed.
Based on the theory of ADRC control method and the mathematical model of the BLDCM,complete the research of auto disturbances rejection control method of BLDCM from both theoretical and experimental aspects.Papers focus on three aspects.(1)Complete the research of auto disturbances rejection control method of BLDCM and establish the speed ADRC algorithm of BLDCM.(2)In view of adjusting parameters problem in ADRC design,parameters adjusting method in BLDCM using ADRC is given.(3)Build the simulation model of BLDCM using ADRC at matlab environment,and examine the control effect under different working conditions.
The experimental results show that the ADRC control method of the BLDCM has good transient performance,steady-state performance,excellent control effects and a wide range of applications.
引文
[1]卢建强,孙培德,顾宝龙.关于旋转电机的分类及总结.微计算机信息,2007,12.37-40
[2]曾丽,吴浩烈.永磁直流无刷电机系统仿真研究.贵州工业大学学报:自然科学版,2004,33(6):35-38
[3]张曼若.无刷直流电机控制技术综述.微电机,1995,28(1):23-25
[4]陶永华.新型PID控制及其应用.北京:机械工业出版社,1998.60-68
[5]韩京清.一种新型控制器——NLHD.控制与决策,1994,9(6):401-407
[6]Kim Gauen,Jade Alberkrack.Three piece solution for brushless motor controller design.2005,31-35
[7]马小亮.大功率交变频调速及矢量控制技术.北京:机械工业出版社,2004.268-675
[8]王成元.矢量控制交流伺服驱动电动机.北京:机械工业出版社,1995.86-90
[9]Kuang Yao Cheng,Ying Yu Tzou.Fuzzy optimization techniques applied to the design of a digital servo drive.In.Power Electronics IEEE Trans on,2004,19(4):1085-1099
[10]王晓远,田亮,冯华.无刷直流电机直接转矩模糊控制研究.中国电机工程学报,2006,26(15):134-138
[11]Todd D Batzal,Kwang Y Lee.An approach to sensorless operation of the permanent magnent synchronous motor using diagonally recurrent neural networks.In.Energy Conversion IEEE Trans on,2003,Vol.18(1):100-106
[12]EI-Sharkawi M A,EI-Samahy AA,EI-Sayed M L.High performance drive of DC brushless motors using neural network.IN.Energy Conversion,IEEE Trans on,1994,Vol.9(2):317-322
[13]李志民、张遇杰.同步电动机调速系统.北京:机械工业出版社,1996.95-98
[14]牛海清,谢运祥.无刷直流电动机及其控制技术的发展.微电机,2002,35(5):36-38
[15]章为国,杨向中.模糊控制理论与应用.西安:西北工业大学出版社,1999.56-70
[16]朱玲,王群京.直流无刷电动机的模糊控制系统分析.合肥工业大学学报:自然科学版,2002,25(6):1120-1124
[17]纪志成,薛花,沈艳霞.无刷直流电机调速系统模糊神经网络控制新方法.电机与控制学报,2004,8:5-9
[18]Rubaai,A.Rickets,D.Kankam.M.D.Development and implementation of an adaptive fuzzy-neural-network controller for brushless drives industry applications.IEEE Transaction on,2002,38(2):441-447
[19]吴捷,刘永强,陈巍.现代控制技术在电力系统控制中的应用.中国电机工程学报,1998,18(6):377-387
[20]黄一,张文革.自抗扰控制器的发展.控制理论与应用,2002,19(4):485-492
[21]韩京清,王伟.非线性跟踪—微分器.系统科学与数学,1994,14(2):177-183
[22]韩京清.一类不确定对象的扩张状态观测器.控制与决策,1995,10(1):85-88
[23]韩京清.非线性状态误差反馈控制律——NLSEF.控制与决策,1995,10(3):221-231
[24]韩京清.自抗扰控制器及其应用.控制与决策,1998,13(1):19-23
[25]Han Jingqing.The robustness of control systems and the Godel's imperfectness theorem.In.Control Theory and its Application.1999,16:149-155
[26]Huang Yi,Xu Kekang,Han Jingqing.Flight control design using extended state observer and non-smooth feedback.In.Proceedings of IEEE Conference on Control and Decision.Ofland,2001:223-228
[27]苏位峰.异步电机自抗扰矢量控制调速系统:[博士学位论文].北京:清华大学电机工程与应用电子技术系,2004
[28]高龙,韩俊生,李崇坚等.非线性鲁棒自抗扰控制器在电力系统中的应用.清华大学学报(自然科学版),2000,40(3):59-63
[29]孙立明,姜学智,李东海.水轮机水门非线性控制器设计.电力系统自动化,2003,27(16):45-49
[30]韩京清,张荣.二阶扩张状态观测器的误差分析.系统科学与数学,1999,10(4):465-471
[31]黄一,韩京清.非线性连续二阶扩张状态观测器的分析与设计.科学通报,2000,45(13):1373-1379
[32]张荣,韩京清.串联型扩张状态观测器构成的自抗扰控制器.控制与决策,2000,15(1):122-124
[33]张文革.时间尺度与自抗扰控制器:[博士学位论文].北京:中国科学院系统科学研究所,1999
[34]老大中,刘艳芬,李东海等.基于Monte-Carlo方法的自抗扰控制系统优化设计.北京理工大学学报,2004,24(3):226-229
[35]康忠健,陈学允.非线性扩张状态观测器的一种设计方法.电机与控制学报,2001,5(3):199-203
[36]朱丽玲,于希宁,刘磊等.基于遗传算法的ADRC参数整定及其应用.仪器仪表用户,2005,12(4):64-66
[37]贡俊,陆国林.无刷直流电机在工业中的应用和发展.微特电机.2000,5:15-19
[38]曾斌.世界电动汽车发展动态.中国机电工业.2002,9:15-17
[39]曹秉刚,张传伟,白志峰,李竟成.电动汽车技术进展和发展趋势.西安交通大学学报.2004,38(1):1-5
[40]张琛等.直流无刷电动机原理及应用.北京:机械工业出版社,1996.35-63
[41]Jung DH,HAIJ.Low-cost sensorless control of brushless DC motors using a frequency independent phase shifter.In.IEEE T POWER ELECTR,2000:39-42
[42]纪志成,沈艳霞,姜建国.基于MATLAB无刷直流电机系统仿真建模的新方法.系统仿真学报,2003,15(12):1745-1749
[43]钱学森,宋健.工程控制论(上册).科学出版社,1980:356-364
[44]Han Jingqing.The realization of state feedback in a class of nonlinear systems.In.Control and Decision.1991,6(3):161-167
[45]Han Jingqing.Linear and nonlinear of feedback system.Control and Decision.1988,3(2):27-32
[46]夏长亮,杨晓军.基于鲁棒调节器的无刷直流电机速度控制研究.电工电能新技术,2002,21(3):5-8,66
[47]李海生,朱学峰.自抗扰控制器参数整定与优化方法研究.控制工程,2004,11:419-423
[48]于希宁,朱丽玲.自抗扰控制器的动态参数整定及其应用.华北电力大学学报,2005,32(6):9-13
[49]万晖.自抗扰控制器的稳定性分析及其应用:[博士学位论文].北京:中国科学院数学与系统科学研究院,2001
[50]Zhang Wenge.The time scale and ADRC Controller.Beijing:Institute of Systems Science of Chinese Academy of Science.1999,314-321
[2]曾丽,吴浩烈.永磁直流无刷电机系统仿真研究.贵州工业大学学报:自然科学版,2004,33(6):35-38
[3]张曼若.无刷直流电机控制技术综述.微电机,1995,28(1):23-25
[4]陶永华.新型PID控制及其应用.北京:机械工业出版社,1998.60-68
[5]韩京清.一种新型控制器——NLHD.控制与决策,1994,9(6):401-407
[6]Kim Gauen,Jade Alberkrack.Three piece solution for brushless motor controller design.2005,31-35
[7]马小亮.大功率交变频调速及矢量控制技术.北京:机械工业出版社,2004.268-675
[8]王成元.矢量控制交流伺服驱动电动机.北京:机械工业出版社,1995.86-90
[9]Kuang Yao Cheng,Ying Yu Tzou.Fuzzy optimization techniques applied to the design of a digital servo drive.In.Power Electronics IEEE Trans on,2004,19(4):1085-1099
[10]王晓远,田亮,冯华.无刷直流电机直接转矩模糊控制研究.中国电机工程学报,2006,26(15):134-138
[11]Todd D Batzal,Kwang Y Lee.An approach to sensorless operation of the permanent magnent synchronous motor using diagonally recurrent neural networks.In.Energy Conversion IEEE Trans on,2003,Vol.18(1):100-106
[12]EI-Sharkawi M A,EI-Samahy AA,EI-Sayed M L.High performance drive of DC brushless motors using neural network.IN.Energy Conversion,IEEE Trans on,1994,Vol.9(2):317-322
[13]李志民、张遇杰.同步电动机调速系统.北京:机械工业出版社,1996.95-98
[14]牛海清,谢运祥.无刷直流电动机及其控制技术的发展.微电机,2002,35(5):36-38
[15]章为国,杨向中.模糊控制理论与应用.西安:西北工业大学出版社,1999.56-70
[16]朱玲,王群京.直流无刷电动机的模糊控制系统分析.合肥工业大学学报:自然科学版,2002,25(6):1120-1124
[17]纪志成,薛花,沈艳霞.无刷直流电机调速系统模糊神经网络控制新方法.电机与控制学报,2004,8:5-9
[18]Rubaai,A.Rickets,D.Kankam.M.D.Development and implementation of an adaptive fuzzy-neural-network controller for brushless drives industry applications.IEEE Transaction on,2002,38(2):441-447
[19]吴捷,刘永强,陈巍.现代控制技术在电力系统控制中的应用.中国电机工程学报,1998,18(6):377-387
[20]黄一,张文革.自抗扰控制器的发展.控制理论与应用,2002,19(4):485-492
[21]韩京清,王伟.非线性跟踪—微分器.系统科学与数学,1994,14(2):177-183
[22]韩京清.一类不确定对象的扩张状态观测器.控制与决策,1995,10(1):85-88
[23]韩京清.非线性状态误差反馈控制律——NLSEF.控制与决策,1995,10(3):221-231
[24]韩京清.自抗扰控制器及其应用.控制与决策,1998,13(1):19-23
[25]Han Jingqing.The robustness of control systems and the Godel's imperfectness theorem.In.Control Theory and its Application.1999,16:149-155
[26]Huang Yi,Xu Kekang,Han Jingqing.Flight control design using extended state observer and non-smooth feedback.In.Proceedings of IEEE Conference on Control and Decision.Ofland,2001:223-228
[27]苏位峰.异步电机自抗扰矢量控制调速系统:[博士学位论文].北京:清华大学电机工程与应用电子技术系,2004
[28]高龙,韩俊生,李崇坚等.非线性鲁棒自抗扰控制器在电力系统中的应用.清华大学学报(自然科学版),2000,40(3):59-63
[29]孙立明,姜学智,李东海.水轮机水门非线性控制器设计.电力系统自动化,2003,27(16):45-49
[30]韩京清,张荣.二阶扩张状态观测器的误差分析.系统科学与数学,1999,10(4):465-471
[31]黄一,韩京清.非线性连续二阶扩张状态观测器的分析与设计.科学通报,2000,45(13):1373-1379
[32]张荣,韩京清.串联型扩张状态观测器构成的自抗扰控制器.控制与决策,2000,15(1):122-124
[33]张文革.时间尺度与自抗扰控制器:[博士学位论文].北京:中国科学院系统科学研究所,1999
[34]老大中,刘艳芬,李东海等.基于Monte-Carlo方法的自抗扰控制系统优化设计.北京理工大学学报,2004,24(3):226-229
[35]康忠健,陈学允.非线性扩张状态观测器的一种设计方法.电机与控制学报,2001,5(3):199-203
[36]朱丽玲,于希宁,刘磊等.基于遗传算法的ADRC参数整定及其应用.仪器仪表用户,2005,12(4):64-66
[37]贡俊,陆国林.无刷直流电机在工业中的应用和发展.微特电机.2000,5:15-19
[38]曾斌.世界电动汽车发展动态.中国机电工业.2002,9:15-17
[39]曹秉刚,张传伟,白志峰,李竟成.电动汽车技术进展和发展趋势.西安交通大学学报.2004,38(1):1-5
[40]张琛等.直流无刷电动机原理及应用.北京:机械工业出版社,1996.35-63
[41]Jung DH,HAIJ.Low-cost sensorless control of brushless DC motors using a frequency independent phase shifter.In.IEEE T POWER ELECTR,2000:39-42
[42]纪志成,沈艳霞,姜建国.基于MATLAB无刷直流电机系统仿真建模的新方法.系统仿真学报,2003,15(12):1745-1749
[43]钱学森,宋健.工程控制论(上册).科学出版社,1980:356-364
[44]Han Jingqing.The realization of state feedback in a class of nonlinear systems.In.Control and Decision.1991,6(3):161-167
[45]Han Jingqing.Linear and nonlinear of feedback system.Control and Decision.1988,3(2):27-32
[46]夏长亮,杨晓军.基于鲁棒调节器的无刷直流电机速度控制研究.电工电能新技术,2002,21(3):5-8,66
[47]李海生,朱学峰.自抗扰控制器参数整定与优化方法研究.控制工程,2004,11:419-423
[48]于希宁,朱丽玲.自抗扰控制器的动态参数整定及其应用.华北电力大学学报,2005,32(6):9-13
[49]万晖.自抗扰控制器的稳定性分析及其应用:[博士学位论文].北京:中国科学院数学与系统科学研究院,2001
[50]Zhang Wenge.The time scale and ADRC Controller.Beijing:Institute of Systems Science of Chinese Academy of Science.1999,314-321