基于非线性自抗扰控制器的PMSM直接转矩控制

针对传统的永磁同步电机(PMSM)直接转矩控制中转矩脉动和磁链脉动较大及转速超调等问题,研究一种基于非线性自抗扰控制的PMSM直接转矩控制策略.将传统的PI控制器替换成非线性的自抗扰控制器,设计转速环自抗扰控制器.自抗扰控制器中的扩张状态观测器将外部扰动和未知系统的参数的变化进行估计,并通过补偿手段加以控制,提高系统的抗干扰性能.微分跟踪器将给定转速平滑化,使得系统快速跟踪给定的转速信号,提高系统的响应能力.仿真实验验证了该策略的可靠性和有效性.     

一种电动汽车启动过程中IGBT结温控制策略

在电动汽车启动过程中,由于电机控制器输出电流的频率较低,当满转矩输出时,控制器开关器件IGBT的结温波动严重,容易造成IGBT芯片结温过高,对IGBT模块可靠性和寿命带来影响。对此,文章提出一种基于速度反馈的电动汽车启动过程中IGBT结温控制策略。其首先分析了启动过程中转速、电流、开关频率之间的数学关系,在此基础上根据速度反馈构造转矩释放函数,不断释放转矩上限,在尽可能提升整车动力性能的基础上控制结温。Matlab仿真结果和黑模块实测数据验证了所提控制策略的可行性。     

异步电动机DTC系统实验装置的设计

本文给出了基于DSP控制器和智能功率模块(IPM)的异步电动机直接转矩控制(DTC)系统实验装置的设计方案。经测试，此装置有丰富的功能和良好的性能。以此为平台，能方便的开展基于直接转矩控制的各种高性能控制策略的研究。     

智能客车转向助力系统控制器设计与实现

为满足客车电动化和智能化的需求,本文研究开发了适用于智能客车转向助力系统的控制器.内容主要包括:基于EHPS系统的结构原理和控制策略,设计制作了以STM32F103zet6型芯片为内核的控制器;硬件设计包括了单片机最小系统电路、电源电路、信号采集电路、功率集成模块电路、CAN通信电路以及故障与高温报警电路等;综合各硬件部分的设计,制作了EHPS系统控制器实物;在控制策略方面,采用id=0的矢量控制方法控制无位置传感器式永磁同步电机;在软件实现方面,主要设计了控制决策部分、电机驱动控制部分、故障诊断与发送部分等程序;最后对控制器进行了台架试验和EHPS系统试验.测试了控制器对电机的控制效果.试验结果显示:电机的目标转速响应迅速并且输出稳定,本文研制的控制器实现了对永磁同步式助力电机的控制.EHPS系统试验测试了控制器对客车转向助力的实现效果,EHPS系统试验结果显示:自主研制的EHPS系统控制器在工作时,操纵方向盘的转矩明显减小,且转向助力系统有良好的助力性能;随着车速的增加,操纵方向盘助力力矩随之减小,实现了助力动态变化,达到了客车常规助力模式的要求.     

基于观测器的发动机转矩跟踪模型预测控制

针对如何实现发动机转矩快速精准地跟踪期望转矩的问题,提出一种基于观测器的模型预测控制策略.首先,利用均值模型对汽油发动机的进气歧管压力动态、转矩和转速动态进行建模,考虑到发动机真实转矩不可测的情况,采用Lyapunov稳定性理论和可测转速信号设计观测器对进气歧管压力进行在线估计,进而获得发动机的实时估计转矩;然后,利用基于观测器的模型预测控制算法设计转矩跟踪控制器,通过C/GMRES数值优化算法在线求解滚动时域优化问题,实现转矩的实时跟踪控制;最后,利用汽油发动机实验台进行实验验证以表明所提出算法的有效性.     

线性-滑模变结构的IPMSM直接转矩控制研究

为了提高内置式永磁同步电机(IPMSM)直接转矩控制系统的动态品质及鲁棒性,使系统在暂态、稳态过程中具有更优良的特性,提出了将直接转矩控制与线性-滑模变结构控制相结合的策略,分别采用转矩、磁链线性(PI)-滑模控制器取代了传统直接转矩控制中的滞环或PI控制器,该控制器分别根据转矩、磁链给定量与反馈量的误差动态调节平衡增益,使其实现线性控制与滑模开关控制的平衡关系,满足系统的控制需求。理论分析及实验结果表明,这种控制策略可极大地减小了磁链及转矩脉动,增大了调速范围,同时仍保持直接转矩控制固有的转矩快速响应特征,在负载恒定或突变条件下系统具有快速跟踪、鲁棒性强的优点,有效改善了系统的动、静态运行性能。     

基于估计的风力机最大功率跟踪控制

在额定风速以下,变速恒频风力发电机组应采用可靠控制策略,保证最大风功率跟踪;在不估计风速的情况下,提出一种风力机最大功率跟踪方法;首先,利用状态观测器和非线性扩展卡尔曼滤波,估计风力机最佳转速,采用PI控制器给出风力机转矩估值;其次,以风力机转矩、转速估值为输入,采用风力机转矩前馈控制,在计算风力机最优转速后,给出发电机转矩控制量,从而实现低风速时的最大功率跟踪;在Matlab/Simulink软件上搭建了仿真平台,仿真验证了估计的有效性和控制的正确性。     

基于PR控制器的直接转矩控制策略研究

针对传统直接转矩控制中采用开关表控制造成转矩和电流脉动,以及传统调节器不能实现对交流输入信号的无静差控制等问题,基于电机空间电压矢量的转矩和磁链2个分量解耦的控制方式和PR控制器能够在静止坐标系下实现对交流输入信号的无静差控制,将PR控制器用于永磁同步电机的直接转矩控制中,并由此设计出磁链和转矩的双PR控制器。同时,在定子磁链的观测中,采用基于转子位置和定子电流的新型定子磁链估计方法。试验结果证明,将PR控制器对交流输入信号的无静差跟踪特性应用于基于空间电压矢量调制的直接转矩控制中,系统能获得优良的动态和静态响应,取得了显著的应用成效,由此验证了所提方法的正确性和可行性。     

三相六开关容错逆变器驱动异步电机FCS-MPTC

针对异步电机驱动系统中三相六开关逆变器单管故障问题,提出一种逆变器在故障状态下的三相六开关容错控制策略,较三相四开关容错控制可以提供较多的电压矢量,进而可以有效抑制转矩脉动.结合有限集预测控制思想,提出一种基于三相六开关容错逆变器的异步电机有限控制集模型预测转矩控制策略,同时采用模糊PI转速控制器替代固定参数的PI控制器,进一步提高系统的稳定性、快速性和鲁棒性.仿真结果表明, 采用此方案进行控制的异步电机驱动系统能够持续稳定运行,具有良好的动态性能,进一步验证了所提出方法的有效性.     

基于高阶滑模速度控制器的异步电机模型预测转矩控制

针对三相异步电机驱动系统,提出一种基于高阶滑模速度控制器的模型预测转矩控制策略.为了降低负载扰动对系统运行性能的影响,设计一种基于二阶Super-Twisting滑模技术的速度环控制器,以代替传统PI速度控制器,并应用Lyapunov稳定性理论对其稳定性和鲁棒性进行分析,得到使速度控制系统收敛的参数范围.为了提升转矩控制精度,基于异步电机的数学模型,采用模型预测转矩控制理论,以转矩和定子磁链为控制目标设计评价函数,得到最优输出电压矢量驱动电机运行.仿真结果表明,所提出的控制方法能有效提升系统对负载扰动的鲁棒性,并有效降低转矩波动,使电机具有良好的动态和静态运行性能.     

自适应控制系统设计的参数辨识途径

本文给出了一种关于自适应控制系统设计的方法,该方法的特点是把自适应控制律的设 计问题转化为参数辨识问题,使非线性系统与多输入系统的处理变得较容易,而且使算法得到 简化.     

A design methodology for structural and control systems of a prosthetic leg

A design methodology is proposed to optimize a prosthetic leg considering the structural and control aspects. Previous studies mainly focused on each of a structural design problem or a control problem. The structural design variables of a prosthetic leg are determined in a structural design problem while the trajectory tracking based on the human gait cycle is found to be a control problem. The two problems have been separately solved. However, they should be simultaneously considered to obtain a better design. Then the problem would be nonlinear dynamic response optimization of structural and control systems. An optimization method was recently developed for a linear system of structural and control design problems using the equivalent static loads (ESLs). In this study, a design methodology for the prosthetic leg is presented by expanding the equivalent static loads method (ESLM) to nonlinear dynamic systems. A simple example is solved to validate the proposed methodology, and then a prosthetic leg is optimized to reduce the weight and energy consumption.     

ITAE最优控制系统设计

研究ＩＴＡＥ最优控制系统的设计问题。针对这类性能指标中含有绝对值的最优控制问题，先将镇定控制器参数化，再用Ｌ１理论将其转化为求解线性规划和代数方程。所得的控制器是有理的、线性的，易于工程实现。     

An approach to design of control systems with parametric-coordinatefeedback

A method of control design for linear systems and some nonlinear systems is considered. The class of systems is characterized by the presence of coordinate and parametric feedback control signals. The system can be presented as consisting of two control channels: one controlling the system in a specified domain and the other to drive the system into this domain. The proposed method for binary system design is based on the solution of the Lyapunov-Bellman equations. The Lyapunov-Bellman function (or the optimal Lyapunov function, namely, the solution of the correspondent equation) is used to design the second channel of control. The analytical design problem of this channel is formulated as an optimal control problem under a cost functional of special type     

Accurate identification for control: the necessity of an iterativescheme

If approximate identification and model-based control design are used to accomplish a high-performance control system, then the two procedures must be treated as a joint problem. Solving this joint problem by means of separate identification and control design procedures practically entails an iterative scheme. A frequency-response identification technique and a robust control design method are used to set up such an iterative scheme. Each identification step uses the previously designed controller to obtain new data from the plant. The associated identification problem has been solved by means of a coprime factorization of the unknown plant. The technique's utility is illustrated by an example     

Hierarchical control for nonlinear systems by partial-state feedback

In this paper, the hierarchical control problem is rephrased and addressed that systematically tackles the design of hierarchical control law between the concrete system and the abstract system. The proposed way to this problem, on one hand, incorporates simulation function technique, and on the other hand, allows us to design a partial-state feedback hierarchical control law. Following this approach, we design two hierarchical control laws for nonlinear systems. Finally, an example illustrates this approach.     

Simultaneous design and control of processes under uncertainty: A robust modelling approach

This paper presents a new methodology to integrate process design and control. The key idea in this method is to represent the system’s closed-loop nonlinear behaviour as a linear state space model complemented with uncertain model parameters. Then, robust control tools are applied to calculate bounds on the process stability, the process feasibility and the worst-case scenario. The new methodology was applied to the simultaneous design and control of a mixing tank process. The resulting design avoids the solution of computationally intensive dynamic optimizations since the integration of design and control problem is reduced to a nonlinear constrained optimization problem.     

一种并行异步FIFO控制算法设计

在多种电子系统设计中,不同时钟域之间的数据传递问题往往给设计者带来严重的设计瓶颈,而采用FIFO电路可以有效的解决这一问题。因此提出了一种工作速度高、可靠性好和设计简单灵活的并行异步FIFO控制算法。把FIFO控制算法分为两部分:写FIFO控制算法和读FIFO控制算法,分别做了详细的分析和讨论。测试结果表明该算法工作原理简单,性能稳定可靠。     

Simulation studies of inverted pendulum based on PID controllers

The inverted pendulum problem is one of the most important problems in control theory and has been studied excessively in control literatures. When a control system have more than two PID controllers, the adjustment of PID parameters is not an easy problem. In this paper, PID controllers are applied to the stabilization and tracking control of three types of inverted pendulum. The way how to design the PID controllers is given step by step in this paper. Simulation results prove that the way to design of PID controllers is very simple and effective. The system design not only can realize stabilization and tracking control of three types of inverted pendulum, but also have robustness to outer large and fast disturbances.