基于滑模状态观测器的正弦波PMSM控制策略研究
摘要
本文以永磁同步电机及其控制系统为研究对象。在永磁同步电机的原理与特性分析基础上，分析与构建了正弦波式永磁同步电机(SPMSM)的动态数学模型。对永磁同步电机系统转矩谐波产生机理进行了详细解析与推导，探讨了消除转矩纹波的可行性，并且提出了一种低转矩纹波的滑模开关变结构系统控制策略。
文中PMSM控制系统将基于磁场定向原理(F.O.C)的矢量控制与基于滑模变结构(SMC)的自适应控制相结合，在SVPWM控制基础上，采用无位置和无速度传感器控制技术。对无位置传感器算法进行了较为全面的介绍和分析，通过探讨，选用了鲁棒性能较强的滑模控制算法。文中介绍并改进了一种基于滑模算法的状态观测器，观测器根据定子侧可测的电流、电压值估算出磁场定向控制所需要的位置信息和转速控制器的输入反馈转速信息。
本文在对系统特征以及控制策略分析的基础上进行了实验验证，进行了系统硬件和软件方面的设计。硬件设计包括电源模块设计、主电路设计、检测电路和保护电路设计，处理器采用DSP240x；软件部分包括滑模控制算法模块、矢量坐标变换及SVPWM实现模块、速度PID控制模块以及与上位机的接口信息捕获模块。实验证明了控制策略的可行性。
本文在介绍常规速度控制器的基础上，在永磁同步电机控制系统中尝试运用了单神经元PID自适应控制器，并取得了较为理想的效果。最后，进一步探讨和展望了PMSM的模糊神经网络控制以及递归模糊神经网络控制等智能控制方法。
The text research object with the control system of permanent magnet synchronous motor (PMSM). The Operation Principles and characteristics of PMSM are analyzed .On the foundation , the dynamic mathematical model of sine-wave type permanent magnet synchronous motor( SPMSM ) is built. Based on the detailed analysis of the system torque harmonic mechanism, a new Sliding Trajectory Control algorithm for sensorless PMSM vector control system is designed which could reduce the torque ripple.
The information of rotate position and rotate speed is essential in vector control system. As for the observation of position and velocity, the sensorless control technique is used. On the basis of an overall introduction and analysis to sensorless control algorithm, the system adopted a sliding mode control (SMC) with a variable control structure that gives comparatively robust performance of a drive with parameter variation and load torque disturbance. The SPMSM control system combined the theory of field orientated control (F.O.C) with the Sliding Model Control (SMC) principle. The text introduced an enhanced SMC algorithm, it increased the precision of Rotor position and velocity estimation and the stability of system when the method mentioned is applied in state observe of the vector control system.
On the foundation of analysis the system characteristic and control strategy, the hardware parts and the soft parts of system are designed. Processor adopted DSP2407 .The experiment has proved feasibility of control strategy.
Finally, the text discussed the intelligence control methods such as neural net control. In order to improve the performance of the PMSM drive system with traditional PID controller, the single neuron PID controller was used to control the system. Combined with the objection and control demand, a lot of experiments were done. The experiments show that the drive system of single neuron PID controller has well start-up performance, dynamic performance and strong robustness.
文中PMSM控制系统将基于磁场定向原理(F.O.C)的矢量控制与基于滑模变结构(SMC)的自适应控制相结合，在SVPWM控制基础上，采用无位置和无速度传感器控制技术。对无位置传感器算法进行了较为全面的介绍和分析，通过探讨，选用了鲁棒性能较强的滑模控制算法。文中介绍并改进了一种基于滑模算法的状态观测器，观测器根据定子侧可测的电流、电压值估算出磁场定向控制所需要的位置信息和转速控制器的输入反馈转速信息。
本文在对系统特征以及控制策略分析的基础上进行了实验验证，进行了系统硬件和软件方面的设计。硬件设计包括电源模块设计、主电路设计、检测电路和保护电路设计，处理器采用DSP240x；软件部分包括滑模控制算法模块、矢量坐标变换及SVPWM实现模块、速度PID控制模块以及与上位机的接口信息捕获模块。实验证明了控制策略的可行性。
本文在介绍常规速度控制器的基础上，在永磁同步电机控制系统中尝试运用了单神经元PID自适应控制器，并取得了较为理想的效果。最后，进一步探讨和展望了PMSM的模糊神经网络控制以及递归模糊神经网络控制等智能控制方法。
The text research object with the control system of permanent magnet synchronous motor (PMSM). The Operation Principles and characteristics of PMSM are analyzed .On the foundation , the dynamic mathematical model of sine-wave type permanent magnet synchronous motor( SPMSM ) is built. Based on the detailed analysis of the system torque harmonic mechanism, a new Sliding Trajectory Control algorithm for sensorless PMSM vector control system is designed which could reduce the torque ripple.
The information of rotate position and rotate speed is essential in vector control system. As for the observation of position and velocity, the sensorless control technique is used. On the basis of an overall introduction and analysis to sensorless control algorithm, the system adopted a sliding mode control (SMC) with a variable control structure that gives comparatively robust performance of a drive with parameter variation and load torque disturbance. The SPMSM control system combined the theory of field orientated control (F.O.C) with the Sliding Model Control (SMC) principle. The text introduced an enhanced SMC algorithm, it increased the precision of Rotor position and velocity estimation and the stability of system when the method mentioned is applied in state observe of the vector control system.
On the foundation of analysis the system characteristic and control strategy, the hardware parts and the soft parts of system are designed. Processor adopted DSP2407 .The experiment has proved feasibility of control strategy.
Finally, the text discussed the intelligence control methods such as neural net control. In order to improve the performance of the PMSM drive system with traditional PID controller, the single neuron PID controller was used to control the system. Combined with the objection and control demand, a lot of experiments were done. The experiments show that the drive system of single neuron PID controller has well start-up performance, dynamic performance and strong robustness.
引文
[1]李志明 张遇杰，同步电动机调速系统．机械工业出版社，1996
[2]张琛，直流无刷电动机原理及应用(第2版)．机械工业出版社，2004
[3]许大中 贺益康，电机控制．杭州：浙江大学出版社，2002：164-172
[4]陈伯时，电力拖动自动控制系统-运动控制系统(第3版)．机械工业出版社，2005
[5]Pillay P, Krishnan R. Modeling, simulation and analysis of permanent-magnet motor drives Ⅱ: The brushless DC motor drive. IEE Proceedings Electric Power Applications, 1989,25(2):274-279
[6]Bimal K Bose，现代电力电子学与交流传动．机械工业出版社，2005
[7]王海峰，无刷直流电机转矩脉动控制技术的研究[西北工业大学博士学位论文]2003，7
[8]K. J. Binns, F. B. Chaaban, and A.A.K. Hameed, Major Design Parameters of a Solid Canned Motor with Skewed Magnets, IEE Proc.Vol. 140,No. 3, May 1993: pp.161～165.
[9]R. Carlson, A. Tavares, J. Bastos, and M. Lajoie-Mazenc, Torque ripple attenuation in Permanent Magnet Synchronous Motors, IEEE Ind. Appl. Soc. Annu. Meet., 1989: pp. 57～62.
[10]T. Sebastian, and W Gangla, Analysis of Induced EMF and Torque Waveform l n aBrushless Permanent Magnet Machine, IEEE Ind. Appiicat. Soc. Annu. Meet.1994:pp.240-246
[11]T. Li, and G Slemon, Reduction of Cogging Torque in Permanent Magnet Motor, IEEE Trans.Magn., vol.24, No.6,Nov. 1988: pp.2901-2903.
[12]I. De La Ree and N. Boules, Torque Production in Permanent Magnet Synchronous Motor, IEEE Trans. Ind. Applicat., vol. 25,No. Ⅰ, Jan/Feb 1989: pp.107-Ⅰ 12,
[13]唐任远，现代永磁电机理论与设计，北京：机械工业出版社，1997
[14]B. Nogarede, and M. Lajoie-Mazenc, Torque Ripple Minimization Methods in Sinusoidal fed Synchronous Permanent Magnet Machines, Proc. IEE Conf. Elec. Machines&Drives, Sept. 1991: pp.41-45.
[15]C. Chan, J. Jiang, G.Chen, X.Wang, and K. Chau, A novel Polyphase Multipole Square-wave Permanent Magnet Motor Drive for Electric Vehicles, IEEE Trans. Ind. Applicat. Vol. 30, No.5,Sept/Oct.1994:pp.1258-1266
[16]陈鸣，解决无刷直流电机转矩波动的一种方法．微电机，2002．第5期
[17]G. H. Jang, and D. K. Lieu, Vibration Reduction in Electric Machine by Magnet Interlacing, IEEE Trans. Mag.,vol. 28,No. 5, Sept. 1992:pp.3024-3026
[18]T. Jahns, Torque Production in Permanent Magnet Synchronous Motor Drives with Rectangular Current Excitation, IEEE Trans. Ind. Applicat., vol.20, No. 4, July/Aug, 1984:pp.803-813
[19]E. Favre, L. Cardoletti, E. von Siebenthal, and M. Jufer, Speed Control of a Constant Torque Brushless Motor, Proc. Int. Conf. Elec. Machines, Manchester, UK, Sept.1992: pp.828-832.
[20]S. Komada, M. Ishida, K. Ohnishi, and T. Hori, Disturbance Observer-Based Motion Control of Direct Drive Motors, IEEE Trans. On Energy Conversion. Vol. 6.No3,Sept. 1991.- pp. 553-559
[21]F. Parasiliti, R. Petrella, and M. Tursini, Sensorless Speed Control of a PM Synchronous Motor Based on Sliding Mode Oberver and Extended Kalman Filter, 0-7803-7116-X/01, IEEE 2001: pp. 533-540
[22]S. Fedrigo, A. Gandellli, A. Monti, and F. Ponci, Aunified Wavelet-Based Approach to Electrical Machine Modeling, 0-7803-7091-01/01, IEEE,2001: pp. 765～769
[23]A. Kaletsanos, A. H. Xepapas, and S. N. Mamas; A Novel Sliding Fuzzy Logic Control Tochnique for Induction Motor Drive Systems,0-7803-7067-8/01,IEEE 2001:pp.1209～1214
[24]李永东，交流电机数字控制系统．机械工业出版社，2004
[25]丘建琪，永磁无刷直流电机转矩脉动抑制的控制策略研究．[浙江大学博士学位论文]．浙江大学，2002，7
[26]Maidu M,Bose B K. Rotor Position Estimation Scheme of a Permanent Magnet Synchronous Machine for High Performance Variable Speed Drive. IEEE IAS Annual Meeting,1992.(1): pp48～54
[27]梁艳 李永东，无传感器永磁同步电机矢量控制系统概述 电气传动 2004年第4期
[28]Vadim Utkin, Jurgen Guldner, Jingxin Shi, "Sliding mode control in Electromechanical systems", 1st Edition,Taylor&Francis, 1999
[29]Jun Hu, Dong-qi Zhu, Bin Wu. Permanent Magnet Svnchronous Motor Drive Without Mechanical Sensors. IEEE Electrical and Computer Engineering Conference, 1996,(2): pp604-606
[30]TI., SPRA445_Digital Signal Processing Solutions for Motor Control Using the TMS420F240 DSP-Controller
[31]陶永华 伊怡欣 葛卢生，新型PID控制及其应用．机械工业出版社，2004
[32]刘和平等，TMS420LF240XDSP C语言开发应用．北京航空航天大学出版社，2004
[33]Vadim I. Utkin, Sliding mode control design principles and applications to electric drives IEEE Trans. Industrial Electronics Vol. 40, No. 1 1994
[34]John Y. Hung etc, Variable Structure Control: A survey IEEE Trans.Industrial Electronics Vol. 40, No. 1 1994
[35]Malik Elbuluk, Changsheng LI. Sliding Mode Observer for Wide-Speed Sensorless Control of PMSM Drives[J], IEEE Vol. 40, No. 1 2004
[36]YOU LIN-RU, MA ZHEN-YU, WANG XIAO-HONG, ZHANG HAO. SlidingModeControl For Permanent Magnet Synchronous Motor Based On A Double Closed-Loop Decoupling Method[C]. Proceedings of the Fourth International Conference on Machine Learning and Cybernetics, Guangzhou, August 2005: pp 18-21
[37]Q. Ha, Q.Nguyen, "Fuzzy sliding-mode controllers with applications",IEEE Trans. Industr. Electronics Vol. 48, No. 1,2001.
[38]Heide Brandtstadter, Martin Buss. Control of Electromechanical Systems using Sliding Mode Techniques[C], Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference 2005 Seville, Spain, December 12-15,2005,: pp1947～1952
[39]TI, SPRU441_Sensorless Field Oriented Control for 4-Phase PM Synchronous Motor[Z]. August 2001
[40]Changsheng LI, Malik Elbuluk. A Robust Sliding Mode Observer for Permanent Magnet Synchronous Motor Drives[J], 2002 IEEE Tran. On Industrial Electronics, pp1014～1019
[41]李鸿儒，顾树生．基于神经网络的PMSM速度和位置自适应观测器的设计[J]．中国电机工程学报，2002，22(12)：32-35．
[42]Lin Faajeng, Lin Chihhong. A permanent-magnet synchronous motor servo drive using self-constructing fuzzy neural network controller [J]. IEEE Transactions on Energy Conversion, 2004, 19(1): 66-72.
[43]Rahman M A, John St. On-line adaptive artificial neural network based vector control of permanent magnet synchronous motor[J]. IEEE Transactions on Energy Conversion, 1998, 13(3): 311-318.
[44]曹先庆，朱建光，唐任远 基于模糊神经网络的永磁同步电动机矢量控制系统 中国电机工程学报 第26卷 第1期 2006：137-141
[45]张相军，无刷直流电机无位置传感器控制技术的研究[上海大学博士学位论文]，2001
[46]万健如，张海波，曹才开 单神经元PD控制器永磁同步电机调速系统，电力电子技术，第39卷第1期2005年2月 75-77
[47]郝东丽，郭彤颖，贾凯 基于神经网络的永磁同步电机矢量控制 电力电子技术第38卷第4期 2004年4月 54-55
[48]郭富权，永磁无刷直流电动机控制策略研究[合肥工业大学硕士学位论文]，2004
[49]Yang Y, Vilathgamuwa D M, Rahman M A. Implementation of an artificial-neural-network-based real-time adaptive controller for an interior permanent magnet motor drive[J]. IEEE Transactions on Energy Conversion, 2003, 39(1): pp96-104.
[50]夏长亮，王娟，史婷娜等 基于自适应径向基函数神经网络的无刷直流电机直接电流控制[Jr]．中国电机工程学报，2003，23(6)：pp123-127．
[2]张琛，直流无刷电动机原理及应用(第2版)．机械工业出版社，2004
[3]许大中 贺益康，电机控制．杭州：浙江大学出版社，2002：164-172
[4]陈伯时，电力拖动自动控制系统-运动控制系统(第3版)．机械工业出版社，2005
[5]Pillay P, Krishnan R. Modeling, simulation and analysis of permanent-magnet motor drives Ⅱ: The brushless DC motor drive. IEE Proceedings Electric Power Applications, 1989,25(2):274-279
[6]Bimal K Bose，现代电力电子学与交流传动．机械工业出版社，2005
[7]王海峰，无刷直流电机转矩脉动控制技术的研究[西北工业大学博士学位论文]2003，7
[8]K. J. Binns, F. B. Chaaban, and A.A.K. Hameed, Major Design Parameters of a Solid Canned Motor with Skewed Magnets, IEE Proc.Vol. 140,No. 3, May 1993: pp.161～165.
[9]R. Carlson, A. Tavares, J. Bastos, and M. Lajoie-Mazenc, Torque ripple attenuation in Permanent Magnet Synchronous Motors, IEEE Ind. Appl. Soc. Annu. Meet., 1989: pp. 57～62.
[10]T. Sebastian, and W Gangla, Analysis of Induced EMF and Torque Waveform l n aBrushless Permanent Magnet Machine, IEEE Ind. Appiicat. Soc. Annu. Meet.1994:pp.240-246
[11]T. Li, and G Slemon, Reduction of Cogging Torque in Permanent Magnet Motor, IEEE Trans.Magn., vol.24, No.6,Nov. 1988: pp.2901-2903.
[12]I. De La Ree and N. Boules, Torque Production in Permanent Magnet Synchronous Motor, IEEE Trans. Ind. Applicat., vol. 25,No. Ⅰ, Jan/Feb 1989: pp.107-Ⅰ 12,
[13]唐任远，现代永磁电机理论与设计，北京：机械工业出版社，1997
[14]B. Nogarede, and M. Lajoie-Mazenc, Torque Ripple Minimization Methods in Sinusoidal fed Synchronous Permanent Magnet Machines, Proc. IEE Conf. Elec. Machines&Drives, Sept. 1991: pp.41-45.
[15]C. Chan, J. Jiang, G.Chen, X.Wang, and K. Chau, A novel Polyphase Multipole Square-wave Permanent Magnet Motor Drive for Electric Vehicles, IEEE Trans. Ind. Applicat. Vol. 30, No.5,Sept/Oct.1994:pp.1258-1266
[16]陈鸣，解决无刷直流电机转矩波动的一种方法．微电机，2002．第5期
[17]G. H. Jang, and D. K. Lieu, Vibration Reduction in Electric Machine by Magnet Interlacing, IEEE Trans. Mag.,vol. 28,No. 5, Sept. 1992:pp.3024-3026
[18]T. Jahns, Torque Production in Permanent Magnet Synchronous Motor Drives with Rectangular Current Excitation, IEEE Trans. Ind. Applicat., vol.20, No. 4, July/Aug, 1984:pp.803-813
[19]E. Favre, L. Cardoletti, E. von Siebenthal, and M. Jufer, Speed Control of a Constant Torque Brushless Motor, Proc. Int. Conf. Elec. Machines, Manchester, UK, Sept.1992: pp.828-832.
[20]S. Komada, M. Ishida, K. Ohnishi, and T. Hori, Disturbance Observer-Based Motion Control of Direct Drive Motors, IEEE Trans. On Energy Conversion. Vol. 6.No3,Sept. 1991.- pp. 553-559
[21]F. Parasiliti, R. Petrella, and M. Tursini, Sensorless Speed Control of a PM Synchronous Motor Based on Sliding Mode Oberver and Extended Kalman Filter, 0-7803-7116-X/01, IEEE 2001: pp. 533-540
[22]S. Fedrigo, A. Gandellli, A. Monti, and F. Ponci, Aunified Wavelet-Based Approach to Electrical Machine Modeling, 0-7803-7091-01/01, IEEE,2001: pp. 765～769
[23]A. Kaletsanos, A. H. Xepapas, and S. N. Mamas; A Novel Sliding Fuzzy Logic Control Tochnique for Induction Motor Drive Systems,0-7803-7067-8/01,IEEE 2001:pp.1209～1214
[24]李永东，交流电机数字控制系统．机械工业出版社，2004
[25]丘建琪，永磁无刷直流电机转矩脉动抑制的控制策略研究．[浙江大学博士学位论文]．浙江大学，2002，7
[26]Maidu M,Bose B K. Rotor Position Estimation Scheme of a Permanent Magnet Synchronous Machine for High Performance Variable Speed Drive. IEEE IAS Annual Meeting,1992.(1): pp48～54
[27]梁艳 李永东，无传感器永磁同步电机矢量控制系统概述 电气传动 2004年第4期
[28]Vadim Utkin, Jurgen Guldner, Jingxin Shi, "Sliding mode control in Electromechanical systems", 1st Edition,Taylor&Francis, 1999
[29]Jun Hu, Dong-qi Zhu, Bin Wu. Permanent Magnet Svnchronous Motor Drive Without Mechanical Sensors. IEEE Electrical and Computer Engineering Conference, 1996,(2): pp604-606
[30]TI., SPRA445_Digital Signal Processing Solutions for Motor Control Using the TMS420F240 DSP-Controller
[31]陶永华 伊怡欣 葛卢生，新型PID控制及其应用．机械工业出版社，2004
[32]刘和平等，TMS420LF240XDSP C语言开发应用．北京航空航天大学出版社，2004
[33]Vadim I. Utkin, Sliding mode control design principles and applications to electric drives IEEE Trans. Industrial Electronics Vol. 40, No. 1 1994
[34]John Y. Hung etc, Variable Structure Control: A survey IEEE Trans.Industrial Electronics Vol. 40, No. 1 1994
[35]Malik Elbuluk, Changsheng LI. Sliding Mode Observer for Wide-Speed Sensorless Control of PMSM Drives[J], IEEE Vol. 40, No. 1 2004
[36]YOU LIN-RU, MA ZHEN-YU, WANG XIAO-HONG, ZHANG HAO. SlidingModeControl For Permanent Magnet Synchronous Motor Based On A Double Closed-Loop Decoupling Method[C]. Proceedings of the Fourth International Conference on Machine Learning and Cybernetics, Guangzhou, August 2005: pp 18-21
[37]Q. Ha, Q.Nguyen, "Fuzzy sliding-mode controllers with applications",IEEE Trans. Industr. Electronics Vol. 48, No. 1,2001.
[38]Heide Brandtstadter, Martin Buss. Control of Electromechanical Systems using Sliding Mode Techniques[C], Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference 2005 Seville, Spain, December 12-15,2005,: pp1947～1952
[39]TI, SPRU441_Sensorless Field Oriented Control for 4-Phase PM Synchronous Motor[Z]. August 2001
[40]Changsheng LI, Malik Elbuluk. A Robust Sliding Mode Observer for Permanent Magnet Synchronous Motor Drives[J], 2002 IEEE Tran. On Industrial Electronics, pp1014～1019
[41]李鸿儒，顾树生．基于神经网络的PMSM速度和位置自适应观测器的设计[J]．中国电机工程学报，2002，22(12)：32-35．
[42]Lin Faajeng, Lin Chihhong. A permanent-magnet synchronous motor servo drive using self-constructing fuzzy neural network controller [J]. IEEE Transactions on Energy Conversion, 2004, 19(1): 66-72.
[43]Rahman M A, John St. On-line adaptive artificial neural network based vector control of permanent magnet synchronous motor[J]. IEEE Transactions on Energy Conversion, 1998, 13(3): 311-318.
[44]曹先庆，朱建光，唐任远 基于模糊神经网络的永磁同步电动机矢量控制系统 中国电机工程学报 第26卷 第1期 2006：137-141
[45]张相军，无刷直流电机无位置传感器控制技术的研究[上海大学博士学位论文]，2001
[46]万健如，张海波，曹才开 单神经元PD控制器永磁同步电机调速系统，电力电子技术，第39卷第1期2005年2月 75-77
[47]郝东丽，郭彤颖，贾凯 基于神经网络的永磁同步电机矢量控制 电力电子技术第38卷第4期 2004年4月 54-55
[48]郭富权，永磁无刷直流电动机控制策略研究[合肥工业大学硕士学位论文]，2004
[49]Yang Y, Vilathgamuwa D M, Rahman M A. Implementation of an artificial-neural-network-based real-time adaptive controller for an interior permanent magnet motor drive[J]. IEEE Transactions on Energy Conversion, 2003, 39(1): pp96-104.
[50]夏长亮，王娟，史婷娜等 基于自适应径向基函数神经网络的无刷直流电机直接电流控制[Jr]．中国电机工程学报，2003，23(6)：pp123-127．