基于重复滑膜控制的PMSM的矢量控制系统
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摘要
针对永磁同步电机(PMSM)在负载突变时产生的抖振现象,文中提出了一种重复滑模控制方法。首先,详细介绍了永磁同步电机的数学模型和滑膜变结构的基本原理,并在PMSM速度环上采用滑膜控制方法代替传统的PI控制。其次,具体分析了重复控制的基本原理,在滑膜控制的基础上加入重复控制,提出了一种新型的重复滑膜控制策略,建立了基于MATLAB/Simulink的电机仿真模型。仿真结果表明,此控制方法在电机转速上升阶段具有较好的系统响应性;在电机突加负载时,电机转速最大突变值比使用滑膜控制时减少了74. 55%,且电机恢复到稳定状态用时为使用滑膜控制时的37. 5%;验证了所提出的重复滑膜控制方法具有较强的抗负载性和系统稳定性。
Aiming at the chattering phenomenon of permanent magnet synchronous motor( PMSM) when the load was abrupt,a repetitive synovial control method was proposed. Firstly,the article introduced the mathematical model of permanent magnet synchronous motor and the basic principle of synovial variable structure in detail,and a synovial control strategy was applied to replace the traditional PI control in speed loop of PMSM. Secondly,the basic principle of repetitive control was comprehensively analyzed. On the basis of synovial control,repetitive control was added to the control system. And proposed a new type of repetitive synovial control approach,a motor simulation model based on MATLAB/Simulink was established. The simulation result shows that the scheme has better system responsiveness in the rising stage of motor speed; when the motor load is abrupt,the maximum mutation value of motor speed is reduced by 74. 55% compared with the use of the synovial control,and the time of motor returns to the stable state also becomes 37. 5% of the original; it is verified that the presented repetitive synovial control algorithm has strong load resistance and system stability.
Aiming at the chattering phenomenon of permanent magnet synchronous motor( PMSM) when the load was abrupt,a repetitive synovial control method was proposed. Firstly,the article introduced the mathematical model of permanent magnet synchronous motor and the basic principle of synovial variable structure in detail,and a synovial control strategy was applied to replace the traditional PI control in speed loop of PMSM. Secondly,the basic principle of repetitive control was comprehensively analyzed. On the basis of synovial control,repetitive control was added to the control system. And proposed a new type of repetitive synovial control approach,a motor simulation model based on MATLAB/Simulink was established. The simulation result shows that the scheme has better system responsiveness in the rising stage of motor speed; when the motor load is abrupt,the maximum mutation value of motor speed is reduced by 74. 55% compared with the use of the synovial control,and the time of motor returns to the stable state also becomes 37. 5% of the original; it is verified that the presented repetitive synovial control algorithm has strong load resistance and system stability.
引文
[1]王伟颖.永磁同步电机抗负载扰动控制策略研究[D].杭州:浙江大学,2012.Wang Weiying. Research on anti-load disturbance control strategy of permanent magnet synchronous motor[D]. Hangzhou:Zhejiang University,2012.
[2]赵希梅,武文斌,朱国昕.基于扩展卡尔曼滤波器的高速永磁直线同步电机扰动前馈补偿[J].电工技术学报,2018,33(7):1516-1522.Zhao Ximei,Wu Wenbin,Zhu Guoxin. Disturbance feedforward compensation for high-speed permanent magnet linear synchronous motor based on extended kalman filter[J].Transactions of China Electro Technical Society,2018,33(7):1516-1522.
[3]刘治钢,王军政,赵江波.永磁同步电机神经网络自适应滑模控制器设计[J].电机与控制学报,2009,13(2):290-295.Liu Zhigang,Wang Junzheng,Zhao Jiangbo. Neural network adaptive sliding mode control for permanent magnet synchronous motor[J]. Electric Machines and Control,2009,13(2):290-295.
[4]周凯,孙彦成,王旭东,等.永磁同步电机的自抗扰控制调速策略[J].电机与控制学报,2018,22(2):57-63.Zhou Kai,Sun Yancheng,Wang Xudong,et al. Active disturbance rejection control of PMSM speed control system[J]. Electric Machines and Control,2018,22(2):57-63.
[5]吴昌韩.永磁同步电机鲁棒控制及故障识别研究[D].秦皇岛:燕山大学,2015.Wu Hanchang. Research on robust control and fault identification of permanent magnet synchronous motor[D]. Qinhunagdao:Yanshan University,2015.
[6]张晓光,赵克,孙力,等.永磁同步电动机滑模变结构调速系统新型趋近率控制[J].中国电机工程学报,2011,31(24):77-82.Zhang Xiaoguang,Zhao Ke,Sun Li,et al. A PMSM sliding mode control system based on a novel reaching law[J]. Proceedings of the Chinese Society for Electrical Engineering,2011,31(24):77-82.
[7]张红涛,王杰,亓迎川,等.基于重复控制的无刷直流电机控制[J].电源技术,2015,39(6):1305-1308.Zhang Hongtao,Wang Jie,Qi Yingchuan,et al. Control of brushless DC motor based on repetitive control[J]. Chinese Journal of Power Sources,2015,39(6):1305-1308.
[8]高建滨,李颖晖,刘聪. PMSM自适应模糊滑模转速控制器设计[J].计算机仿真,2015,9(32):387-390.Gao Jianbin,Li Yinghui,Liu Cong. Design of rotating speed controller based on adaptive fuzzy sliding mode variable structure control for PMSM[J]. Computer Simulation,2015,9(32):387-390.
[9]喻晓军.基于SMO的矿用电机车调速系统设计[D].淮南:安徽理工大学,2015.Yu Xiaojun. Research of mining accumulator locomotive speed control system based on SMO[D]. Huainan:Anhui University of Science and Technology,2015.
[10]刘颖,周波,方斯琛.基于新型扰动观测器的永磁同步电机滑模控制[J].中国电机工程学报,2010,30(9):80-85.Liu Ying,Zhou Bo,Fang Sichen. Sliding mode control of PMSM based on a novel disturbance observer[J]. Proceedings of the Chinese Society for Electrical Engineering,2010,30(9):80-85.
[11]袁雷,胡冰新,魏克银,等.现代永磁同步电机控制原理及MATLAB仿真[M].北京:北京航空航天大学出版社,2016.Ruan Lei,Hu Bingxin,Wei Keyin,et al. Modern permanent magnet synchronous motor control principle and MATLAB simulation[M]. Beijing:Beijing University of Aeronautics and Astronautics Press,2016.
[12]刘烨.基于重复PI控制的逆变器并联技术研究[D].成都:西华大学,2013.Liu Ye. Reserch on single-phase inverter with PI and repetitive control[D]. Chengdu:Xihua University,2013.
[13]李超逸.双电机耦合伺服系统的鲁棒重复控制研究[D].湘潭:湖南科技大学,2017.Li Chaoyi. The study of robust repetitive control of dual-motor couping servo motor[D]. Xiangtan:Hunan University of Science and Technology,2017.
[14]张倩.基于重复控制的永磁同步电机伺服系统研究[D].哈尔滨:哈尔滨工业大学,2014.Zhang Qian. Study on the servo system of PMSM based on repetitive control[D]. Harbin:Harbin Institute of Technology,2014.
[15]杜超,尹忠刚,李艳琴,等.基于重复自抗扰控制的感应电机矢量控制方法[J].电工技术学报,2017,32(19):81-89.Du Chao,Yin Zhonggang,Li Yanqin,et al. Research on repetitive auto disturbance rejection control strategy for induction motors based on vector control[J]. Transactions of China Electrotechnical Society,2017,32(19):81-89.
[16] Kwang Soon Lee,Wangyun Won,Jay H Lee. Synthesis of run-to-run repetitive control methods using finite impulse response models[J]. Journal of Process Control,2017,19(2):364-369.
[2]赵希梅,武文斌,朱国昕.基于扩展卡尔曼滤波器的高速永磁直线同步电机扰动前馈补偿[J].电工技术学报,2018,33(7):1516-1522.Zhao Ximei,Wu Wenbin,Zhu Guoxin. Disturbance feedforward compensation for high-speed permanent magnet linear synchronous motor based on extended kalman filter[J].Transactions of China Electro Technical Society,2018,33(7):1516-1522.
[3]刘治钢,王军政,赵江波.永磁同步电机神经网络自适应滑模控制器设计[J].电机与控制学报,2009,13(2):290-295.Liu Zhigang,Wang Junzheng,Zhao Jiangbo. Neural network adaptive sliding mode control for permanent magnet synchronous motor[J]. Electric Machines and Control,2009,13(2):290-295.
[4]周凯,孙彦成,王旭东,等.永磁同步电机的自抗扰控制调速策略[J].电机与控制学报,2018,22(2):57-63.Zhou Kai,Sun Yancheng,Wang Xudong,et al. Active disturbance rejection control of PMSM speed control system[J]. Electric Machines and Control,2018,22(2):57-63.
[5]吴昌韩.永磁同步电机鲁棒控制及故障识别研究[D].秦皇岛:燕山大学,2015.Wu Hanchang. Research on robust control and fault identification of permanent magnet synchronous motor[D]. Qinhunagdao:Yanshan University,2015.
[6]张晓光,赵克,孙力,等.永磁同步电动机滑模变结构调速系统新型趋近率控制[J].中国电机工程学报,2011,31(24):77-82.Zhang Xiaoguang,Zhao Ke,Sun Li,et al. A PMSM sliding mode control system based on a novel reaching law[J]. Proceedings of the Chinese Society for Electrical Engineering,2011,31(24):77-82.
[7]张红涛,王杰,亓迎川,等.基于重复控制的无刷直流电机控制[J].电源技术,2015,39(6):1305-1308.Zhang Hongtao,Wang Jie,Qi Yingchuan,et al. Control of brushless DC motor based on repetitive control[J]. Chinese Journal of Power Sources,2015,39(6):1305-1308.
[8]高建滨,李颖晖,刘聪. PMSM自适应模糊滑模转速控制器设计[J].计算机仿真,2015,9(32):387-390.Gao Jianbin,Li Yinghui,Liu Cong. Design of rotating speed controller based on adaptive fuzzy sliding mode variable structure control for PMSM[J]. Computer Simulation,2015,9(32):387-390.
[9]喻晓军.基于SMO的矿用电机车调速系统设计[D].淮南:安徽理工大学,2015.Yu Xiaojun. Research of mining accumulator locomotive speed control system based on SMO[D]. Huainan:Anhui University of Science and Technology,2015.
[10]刘颖,周波,方斯琛.基于新型扰动观测器的永磁同步电机滑模控制[J].中国电机工程学报,2010,30(9):80-85.Liu Ying,Zhou Bo,Fang Sichen. Sliding mode control of PMSM based on a novel disturbance observer[J]. Proceedings of the Chinese Society for Electrical Engineering,2010,30(9):80-85.
[11]袁雷,胡冰新,魏克银,等.现代永磁同步电机控制原理及MATLAB仿真[M].北京:北京航空航天大学出版社,2016.Ruan Lei,Hu Bingxin,Wei Keyin,et al. Modern permanent magnet synchronous motor control principle and MATLAB simulation[M]. Beijing:Beijing University of Aeronautics and Astronautics Press,2016.
[12]刘烨.基于重复PI控制的逆变器并联技术研究[D].成都:西华大学,2013.Liu Ye. Reserch on single-phase inverter with PI and repetitive control[D]. Chengdu:Xihua University,2013.
[13]李超逸.双电机耦合伺服系统的鲁棒重复控制研究[D].湘潭:湖南科技大学,2017.Li Chaoyi. The study of robust repetitive control of dual-motor couping servo motor[D]. Xiangtan:Hunan University of Science and Technology,2017.
[14]张倩.基于重复控制的永磁同步电机伺服系统研究[D].哈尔滨:哈尔滨工业大学,2014.Zhang Qian. Study on the servo system of PMSM based on repetitive control[D]. Harbin:Harbin Institute of Technology,2014.
[15]杜超,尹忠刚,李艳琴,等.基于重复自抗扰控制的感应电机矢量控制方法[J].电工技术学报,2017,32(19):81-89.Du Chao,Yin Zhonggang,Li Yanqin,et al. Research on repetitive auto disturbance rejection control strategy for induction motors based on vector control[J]. Transactions of China Electrotechnical Society,2017,32(19):81-89.
[16] Kwang Soon Lee,Wangyun Won,Jay H Lee. Synthesis of run-to-run repetitive control methods using finite impulse response models[J]. Journal of Process Control,2017,19(2):364-369.