基于克隆选择算法的无刷直流电动机速度自抗扰控制优化设计
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摘要
无刷直流电动机是一个多变量强耦合非线性系统,采用经典的PID控制难以得到满意的控制效果,相比较于PID控制,自抗扰控制对于模型的不精确和外界干扰,其显示了更强的鲁棒性。然而,自抗扰控制器的参数较多,难以调节,从而得不到理想的控制效果。本文提出了用克隆选择算法来优化自抗扰控制器的参数,得到了在设定性能指标意义下的最优自抗扰控制参数。
克隆选择算法是一种基于免疫机理的优化方法,其性能优于简单遗传算法,亲和度函数评价是克隆选择算法的重要步骤。如果在CCS中编程实验评价个体的亲和度函数,程序复杂,难于实现。同时,实验也可能损坏电机系统硬件。为此,本文利用MATLAB中的Power Systems Blockset建立了整个无刷直流电动机控制系统的仿真模型,通过仿真计算亲和力函数得到最终自抗扰控制器结果。
以TMS320F2407为核心构建了永磁无刷直流电动机速度控制系统。将优化后自抗扰控制器参数用于实验系统,试验结果表明,优化后自抗扰控制器参数具有更好的控制性能。与优化后的PI控制相比,优化后自抗扰控制对电机模型的不确定性和外部扰动具有较强的鲁棒性。
Since the Brushless DC Motor (BLDCM) driving system is a multi variables nonlinear system with strong coupling, it is very difficult for a classical PID controller to get the desired performance. Compared with conventional PID controller, the ADRC demonstrates strong robustness to model uncertainty and disturbance. However, there are many parameters of ADRC to be adjusted to possess good performance. To solve the problem, the Colonial Selection algorithms (CSA) is proposed to search optimal ADRC parameters, we got the best control parameters under Guide line of performance.
The Colonial Selection algorithms (CSA) is optimize method based on Immune mechanism, the performance batter than simple inheritance algorithms, affinity function evaluate is important process of Colonial Selection algorithms (CSA). It difficult to realize and complicates for evaluate affinity function if programmed in CCS. Meanwhile, the examination damaged system of motor probably. Therefore, the control system Simulation model of BLDCM is established using Power Systems Block set in Matlab. We got the best ADRC performance by evaluate affinity at last.
The BLDCM speed control system by the core of TMS320F2407 and permanent magnet BLDCM IFT5042. The optimal parameters derived from CSA algorithm are used in ADRC in experimental configuration. The better performance of ADRC is verified by Experimental results as well as simulation results. The experiment indicated:the optimized ADRC parameters have batter control capability. From ADRC effect obvious good in the classics PI control, the dynamic property is good, displays the very strong robustness.
克隆选择算法是一种基于免疫机理的优化方法,其性能优于简单遗传算法,亲和度函数评价是克隆选择算法的重要步骤。如果在CCS中编程实验评价个体的亲和度函数,程序复杂,难于实现。同时,实验也可能损坏电机系统硬件。为此,本文利用MATLAB中的Power Systems Blockset建立了整个无刷直流电动机控制系统的仿真模型,通过仿真计算亲和力函数得到最终自抗扰控制器结果。
以TMS320F2407为核心构建了永磁无刷直流电动机速度控制系统。将优化后自抗扰控制器参数用于实验系统,试验结果表明,优化后自抗扰控制器参数具有更好的控制性能。与优化后的PI控制相比,优化后自抗扰控制对电机模型的不确定性和外部扰动具有较强的鲁棒性。
Since the Brushless DC Motor (BLDCM) driving system is a multi variables nonlinear system with strong coupling, it is very difficult for a classical PID controller to get the desired performance. Compared with conventional PID controller, the ADRC demonstrates strong robustness to model uncertainty and disturbance. However, there are many parameters of ADRC to be adjusted to possess good performance. To solve the problem, the Colonial Selection algorithms (CSA) is proposed to search optimal ADRC parameters, we got the best control parameters under Guide line of performance.
The Colonial Selection algorithms (CSA) is optimize method based on Immune mechanism, the performance batter than simple inheritance algorithms, affinity function evaluate is important process of Colonial Selection algorithms (CSA). It difficult to realize and complicates for evaluate affinity function if programmed in CCS. Meanwhile, the examination damaged system of motor probably. Therefore, the control system Simulation model of BLDCM is established using Power Systems Block set in Matlab. We got the best ADRC performance by evaluate affinity at last.
The BLDCM speed control system by the core of TMS320F2407 and permanent magnet BLDCM IFT5042. The optimal parameters derived from CSA algorithm are used in ADRC in experimental configuration. The better performance of ADRC is verified by Experimental results as well as simulation results. The experiment indicated:the optimized ADRC parameters have batter control capability. From ADRC effect obvious good in the classics PI control, the dynamic property is good, displays the very strong robustness.
引文
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[10]Wei Kun, Hu Changsheng Zhang zhongchao, Lu Zhengyu. A novel commutation torque ripple suppression scheme in BLDCM by sensing the DC Current. Proceeding of IEEE PESC 2005:1259-1263
[11]Joong-Ho, Song Ick Choy. Commutation torque ripple reduction in brushless DC motor drives using a single DC current sensor [J].2004, IEEE Trans on Power Electronics,19(2):312-319
[12]Tae Sung Kim,Sung Chan Ahn Dong-seok Hyun. A new current control algorithm for torque reduction of BLDC motors.2001 27th Annual conference of the IEEE Initial Electronics society 1521-1523
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[14]Jian xin xu, S.K.Panda, Ya-Jun Pan, Tong Heng Lee B.H.Lam. A modular control scheme for PMSM speed control with pulsating torque minimization. [J].2004, IEEE Trans on Industry Electronics, 51(3):526-535
[15]陈丹江,刘兆,任军军,张仲超.一种新的无刷直流电机的转矩脉动抑制控制策略[J].电气传动,2005,35(4)：18-20张晓峰,胡庆波,吕征宇.基于BUCK变换器的无刷直流电机转矩脉动抑制方法.电工技术学报[J],2005,20(9)：72-81
[17]张相军,陈伯时.无刷直流电机控制系统中PWM调制方式对换相转矩脉动的影响[J].电机与控制学报,2003,7(2)：87-91
[18]林平,韦鳃,张仲超.新型无刷直流电机换相转矩脉动的抑制控制方法[J].中国电机工程学报,2006,26(3)：153-158
[19]Kwang-Woon Lee, Dae-Kyong Kim, Tae-Duck Kim, and Jae-Young Choi. Commutation torque ripples reduction in a position senseless brushless DC motor drive. Proceeding of IEEE PESC 2004:1419-1423
[20]Min Dai, Ali Keyhani, Tomy Sebastian. Torque ripple analysis of a PM brushless DC motor using finite element method [J].2004, IEEE Trans on Energy Conversion,19 (1):40-45
[21]Yoon-Ho Kim, Yoon-Sang Kook, and Yo Ko. A new technique of reducing torque ripples for BDCM drives [J].1997, IEEE Trans on Industry Electronics,44 (5):735-739
[22]Renato Carlson, Michel Lajoie-Mazenc, Joao C.dos S.Fagundes. Analysis of Torque Ripple Due to Phase Commutation in Brushless dc Machines [J].1992, IEEE Trans on Industry Application,28(3):632-638
[23]韦鳃,胡长生,张仲超.一种新的消除无刷直流电机非导通相续流的PWM调制方式[J].中国电机工程学报,2005,25(7)：104-108
[24]揭贵生,马伟明.考虑换相时无刷直流电机脉宽调制方法研究[J].电工技术学报,2005,20(9)：66-71
[25]Juan W.Dixon, Ivan A. Leal. Current control strategy for brushless DC Motors Based on a common DC signal[J].2002, IEEE Trans on Power Electronics,17(2):232-240
[26]韦鲲,林平,张仲超.无刷直流电机换相转矩脉动的电流预测控制[J].浙江大学学报(工学版),2006,40(1)：171-175
[27]许镇琳,吴忠,王秀芝,江伟.“无刷直流伺服电机换向最优控制”[J].自动化学报,1996,22(4)：428-434
[28]Bozo Terzic, Martin Jadric. Design and implementation of the extended kalman filter for the speed and rotor position estimation of brushless DC motor [J].2001, Industry Electronics IEEE Trans on, 48(6):1065-1073
[29]夏长亮,王娟,史婷娜,徐绍辉.无刷直流电机无位置传感器控制下的转矩波动抑制新策略[J].天津大学学报,2005,38(5)：432-436
[30]Yen-Shin Lai, Fu-San Shyu, Shian Shau Tseng. New position detection technique for three phase brushless DC motor without position and current sensors [J].2003, Industry Application, IEEE Trans on 39(2):485-491
[31]韦鳃,任军军,张仲超.三次谐波检测无刷直流电机转子位置的研究[J].中国电机工程学报,2004,24(5)：163-167
[32]张磊,瞿文龙,陆海峰,肖伟.一种新颖的无刷直流电机无位置传感器控制系统[J].电工技术学报,2006,21(10)：26-30
[33]Gui-Jia Su, John W. McKeever. Low cost senseless control of brushless DC motors with improved speed range [J].2004, Power Electronics IEEE Trans on,19(2):296-302
[34]Kuang-Yao Cheng, ying-yu Tzou. Fuzzy optimization techniques applied to the design of a digital PMSM servo drive [J].2004, IEEE Trans on Power Electronics,19(4):1085-1099
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