Permanent magnet synchronous motor(PMSM)speed control systems with conventional linear active disturbance rejection control(CLADRC)strategy encounter issues regarding the coupling between dynamic response and disturba...Permanent magnet synchronous motor(PMSM)speed control systems with conventional linear active disturbance rejection control(CLADRC)strategy encounter issues regarding the coupling between dynamic response and disturbance suppression and have poor performance in suppressing complex nonlinear disturbances.In order to address these issues,this paper proposes an improved two-degree-of-freedom LADRC(TDOF-LADRC)strategy,which can enhance the disturbance rejection performance of the system while decoupling entirely the system's dynamic and anti-disturbance performance to boost the system robustness and simplify controller parameter tuning.PMSM models that consider total disturbances are developed to design the TDOF-LADRC speed controller accurately.Moreover,to evaluate the control performance of the TDOF-LADRC strategy,its stability is proven,and the influence of each controller parameter on the system control performance is analyzed.Based on it,a comparison is made between the disturbance observation ability and anti-disturbance performance of TDOF-LADRC and CLADRC to prove the superiority of TDOF-LADRC in rejecting disturbances.Finally,experiments are performed on a 750 W PMSM experimental platform,and the results demonstrate that the proposed TDOF-LADRC exhibits the properties of two degrees of freedom and improves the disturbance rejection performance of the PMSM system.展开更多
单相开路故障的五相永磁同步电机(permanent-magnet synchronous motor,PMSM)采用有限集模型预测转矩和磁链控制(finite-control-set model predictive torque and flux control,FCS-MPTFC)策略,存在转矩脉动大、价值函数的权重系数整...单相开路故障的五相永磁同步电机(permanent-magnet synchronous motor,PMSM)采用有限集模型预测转矩和磁链控制(finite-control-set model predictive torque and flux control,FCS-MPTFC)策略,存在转矩脉动大、价值函数的权重系数整定困难、迭代计算量大以及共模电压(commonmode voltage,CMV)高等问题。为此,该文提出一种简化FCS-MPTFC策略。首先,建立五相PMSM在单相开路故障情况下的数学模型,并分析CMV产生的机理。其次,以抑制3次谐波电流的原则合成等幅值虚拟电压矢量(virtual voltage vector,V^(3)),并将转矩和磁链价值函数等效转化为电压价值函数,同时采用无差拍控制思想计算出参考电压矢量,进而通过合理划分扇区,直接获得最优V^(3)。最后,选择方向相反的两个基电压矢量代替零矢量,以减小开路故障下的CMV。仿真和实验结果表明:所提控制策略不仅能抑制单相开路故障导致的转矩脉动、降低计算负荷和CMV、抑制电流谐波,而且具有优良的稳态和动态性能。展开更多
针对传统谐振控制器与PI控制器并联(PIR)无法克服积分环节饱和等因素引起的系统动态过程中超调震荡问题,提出了一种改进双环自抗扰谐振控制器(dual-loop active disturbance rejection control,DLADRC)。DLADRC速度环与电流环均采用自...针对传统谐振控制器与PI控制器并联(PIR)无法克服积分环节饱和等因素引起的系统动态过程中超调震荡问题,提出了一种改进双环自抗扰谐振控制器(dual-loop active disturbance rejection control,DLADRC)。DLADRC速度环与电流环均采用自抗扰控制,速度环采用传统的自抗扰控制。电流环采用一种改进的谐振扩张状态观测器,将观测电流作为谐振控制器的输入,令谐振控制器的输出直接作用到电流环输出,从而降低了谐振电流环设计的复杂性。双环自抗扰谐振控制器保留了谐振控制器抑制特定频率谐波电流的特性,同时优化了系统的超调量与调节时间,有效提升了谐振控制系统的动态性能。仿真结果验证DLADRC系统的有效性。展开更多
在五相永磁同步电机(permanent-magnet synchronous motor,PMSM)中,有限集模型预测容错控制(finite control set model predictive fault tolerant control,FCS-MPFTC)存在计算量大、电流谐波含量高等问题。因此,该文提出一种简化FCS-MP...在五相永磁同步电机(permanent-magnet synchronous motor,PMSM)中,有限集模型预测容错控制(finite control set model predictive fault tolerant control,FCS-MPFTC)存在计算量大、电流谐波含量高等问题。因此,该文提出一种简化FCS-MPFTC来实现相开路和短路故障情况下的统一容错控制。首先,将模型预测电流控制的电流代价函数等效转化为电压代价函数,并采用无差拍方法通过电流模型计算出参考电压。然后,基于抑制三次谐波电流为0的原则合成虚拟电压矢量(virtual voltage vector,V^(3));通过重构V^(3)和扇区,以直接获得参考电压矢量对应的最优电压矢量。最后,对传统和简化FCS-MPFTC在开路和短路故障下进行对比实验。结果表明,所提策略能够有效减小故障后计算量、转矩脉动以及电流谐波含量。展开更多
永磁同步电机(permanent magnet synchronous motor,PMSM)的磁链准确辨识是实现高性能电机控制的基础。针对传统递推最小二乘(recursive least squares,RLS)法受噪声影响小但存在数据饱和,影响辨识精度和动态性问题,以及遗忘最小二乘(re...永磁同步电机(permanent magnet synchronous motor,PMSM)的磁链准确辨识是实现高性能电机控制的基础。针对传统递推最小二乘(recursive least squares,RLS)法受噪声影响小但存在数据饱和,影响辨识精度和动态性问题,以及遗忘最小二乘(recursive least squares with forgetting factor,FRLS)法避免数据饱和但存在参数估计误差与动态跟踪性能矛盾的问题,文章提出一种基于折息最小二乘(recursive least squares with discount factor,DRLS)法的磁链辨识方法。该算法在FRLS法中引入加权因子构成折息因子,采用递推方法进行磁链辨识,减小参数估计误差,提高磁链辨识精度及动态跟踪能力。通过MATLAB仿真及半实物仿真试验,验证所提磁链识别方法的有效性。展开更多
针对永磁同步电机(Permanent Magnet Synchronous Motor,PMSM)转速控制系统中存在的鲁棒性和抗干扰能力差的问题,提出了一种改进分数阶自抗扰控制器(Improved Fractional Order Active Disturbance Rejection Controller,IFOADRC),代替...针对永磁同步电机(Permanent Magnet Synchronous Motor,PMSM)转速控制系统中存在的鲁棒性和抗干扰能力差的问题,提出了一种改进分数阶自抗扰控制器(Improved Fractional Order Active Disturbance Rejection Controller,IFOADRC),代替传统非线性自抗扰控制器。首先,设计了新的非线性函数,应用于非线性分数阶扩张状态观测器(Nonlinear Fractional Order Extended State Observer,NFOESO)中,采用线性分数阶扩张状态观测器(Linear Fractional Order Extended State Observer,LFOESO)对系统总扰动进行初步估计;然后,通过设计的权重函数将该估计结果引入到非线性分数阶扩张状态观测器中,建立了改进分数阶自抗扰控制器,并且通过理论分析了该控制策略的收敛性和抗干扰能力;最后,进行了Simulink仿真和links-RT半实物实验验证。实验结果表明,所提控制策略相比传统非线性自抗扰控制器(Nonlinear Active Disturbance Rejection Controller,NLADRC)和级联扩张状态观测器的自抗扰控制器(Cascaded Linear Active Disturbance Rejection Controller,CLADRC),当电机受到速度阶跃时,调节时间在加速时分别减少了25.6%和17.6%,在减速时分别减少了10.7%和5.6%;当电机受到负载扰动时,调节时间在突加负载时分别减少了51.9%和24.2%,在突减负载时分别减少了41.5%和22.6%;验证了所提控制策略能有效增强永磁同步电机的鲁棒性和抗干扰能力。展开更多
文摘Permanent magnet synchronous motor(PMSM)speed control systems with conventional linear active disturbance rejection control(CLADRC)strategy encounter issues regarding the coupling between dynamic response and disturbance suppression and have poor performance in suppressing complex nonlinear disturbances.In order to address these issues,this paper proposes an improved two-degree-of-freedom LADRC(TDOF-LADRC)strategy,which can enhance the disturbance rejection performance of the system while decoupling entirely the system's dynamic and anti-disturbance performance to boost the system robustness and simplify controller parameter tuning.PMSM models that consider total disturbances are developed to design the TDOF-LADRC speed controller accurately.Moreover,to evaluate the control performance of the TDOF-LADRC strategy,its stability is proven,and the influence of each controller parameter on the system control performance is analyzed.Based on it,a comparison is made between the disturbance observation ability and anti-disturbance performance of TDOF-LADRC and CLADRC to prove the superiority of TDOF-LADRC in rejecting disturbances.Finally,experiments are performed on a 750 W PMSM experimental platform,and the results demonstrate that the proposed TDOF-LADRC exhibits the properties of two degrees of freedom and improves the disturbance rejection performance of the PMSM system.
文摘单相开路故障的五相永磁同步电机(permanent-magnet synchronous motor,PMSM)采用有限集模型预测转矩和磁链控制(finite-control-set model predictive torque and flux control,FCS-MPTFC)策略,存在转矩脉动大、价值函数的权重系数整定困难、迭代计算量大以及共模电压(commonmode voltage,CMV)高等问题。为此,该文提出一种简化FCS-MPTFC策略。首先,建立五相PMSM在单相开路故障情况下的数学模型,并分析CMV产生的机理。其次,以抑制3次谐波电流的原则合成等幅值虚拟电压矢量(virtual voltage vector,V^(3)),并将转矩和磁链价值函数等效转化为电压价值函数,同时采用无差拍控制思想计算出参考电压矢量,进而通过合理划分扇区,直接获得最优V^(3)。最后,选择方向相反的两个基电压矢量代替零矢量,以减小开路故障下的CMV。仿真和实验结果表明:所提控制策略不仅能抑制单相开路故障导致的转矩脉动、降低计算负荷和CMV、抑制电流谐波,而且具有优良的稳态和动态性能。
文摘针对传统谐振控制器与PI控制器并联(PIR)无法克服积分环节饱和等因素引起的系统动态过程中超调震荡问题,提出了一种改进双环自抗扰谐振控制器(dual-loop active disturbance rejection control,DLADRC)。DLADRC速度环与电流环均采用自抗扰控制,速度环采用传统的自抗扰控制。电流环采用一种改进的谐振扩张状态观测器,将观测电流作为谐振控制器的输入,令谐振控制器的输出直接作用到电流环输出,从而降低了谐振电流环设计的复杂性。双环自抗扰谐振控制器保留了谐振控制器抑制特定频率谐波电流的特性,同时优化了系统的超调量与调节时间,有效提升了谐振控制系统的动态性能。仿真结果验证DLADRC系统的有效性。
文摘在五相永磁同步电机(permanent-magnet synchronous motor,PMSM)中,有限集模型预测容错控制(finite control set model predictive fault tolerant control,FCS-MPFTC)存在计算量大、电流谐波含量高等问题。因此,该文提出一种简化FCS-MPFTC来实现相开路和短路故障情况下的统一容错控制。首先,将模型预测电流控制的电流代价函数等效转化为电压代价函数,并采用无差拍方法通过电流模型计算出参考电压。然后,基于抑制三次谐波电流为0的原则合成虚拟电压矢量(virtual voltage vector,V^(3));通过重构V^(3)和扇区,以直接获得参考电压矢量对应的最优电压矢量。最后,对传统和简化FCS-MPFTC在开路和短路故障下进行对比实验。结果表明,所提策略能够有效减小故障后计算量、转矩脉动以及电流谐波含量。
文摘永磁同步电机(permanent magnet synchronous motor,PMSM)的磁链准确辨识是实现高性能电机控制的基础。针对传统递推最小二乘(recursive least squares,RLS)法受噪声影响小但存在数据饱和,影响辨识精度和动态性问题,以及遗忘最小二乘(recursive least squares with forgetting factor,FRLS)法避免数据饱和但存在参数估计误差与动态跟踪性能矛盾的问题,文章提出一种基于折息最小二乘(recursive least squares with discount factor,DRLS)法的磁链辨识方法。该算法在FRLS法中引入加权因子构成折息因子,采用递推方法进行磁链辨识,减小参数估计误差,提高磁链辨识精度及动态跟踪能力。通过MATLAB仿真及半实物仿真试验,验证所提磁链识别方法的有效性。
文摘针对永磁同步电机(Permanent Magnet Synchronous Motor,PMSM)转速控制系统中存在的鲁棒性和抗干扰能力差的问题,提出了一种改进分数阶自抗扰控制器(Improved Fractional Order Active Disturbance Rejection Controller,IFOADRC),代替传统非线性自抗扰控制器。首先,设计了新的非线性函数,应用于非线性分数阶扩张状态观测器(Nonlinear Fractional Order Extended State Observer,NFOESO)中,采用线性分数阶扩张状态观测器(Linear Fractional Order Extended State Observer,LFOESO)对系统总扰动进行初步估计;然后,通过设计的权重函数将该估计结果引入到非线性分数阶扩张状态观测器中,建立了改进分数阶自抗扰控制器,并且通过理论分析了该控制策略的收敛性和抗干扰能力;最后,进行了Simulink仿真和links-RT半实物实验验证。实验结果表明,所提控制策略相比传统非线性自抗扰控制器(Nonlinear Active Disturbance Rejection Controller,NLADRC)和级联扩张状态观测器的自抗扰控制器(Cascaded Linear Active Disturbance Rejection Controller,CLADRC),当电机受到速度阶跃时,调节时间在加速时分别减少了25.6%和17.6%,在减速时分别减少了10.7%和5.6%;当电机受到负载扰动时,调节时间在突加负载时分别减少了51.9%和24.2%,在突减负载时分别减少了41.5%和22.6%;验证了所提控制策略能有效增强永磁同步电机的鲁棒性和抗干扰能力。
