基于端口哈密顿系统与PI控制原理的异步电动机转速调节

针对功率变换器和异步电动机构成的传动系统,利用能量成形与端口受控哈密顿（PCH）系统理论,研究其速度控制问题。建立了异步电动机的PCH系统模型,并构建了期望的闭环状态误差PCH系统。根据转子磁场定向原理,确定了期望的平衡点,并用Lyapunou稳定性定理分了平衡点的稳定性。利用互联和阻尼配置方法,设计了负载恒定已知和有扰动情况下的速度控制器。负载扰动通过速度误差的比例积分控制来估计。利用电压空间矢量脉宽调制（SVPWM）信号变换控制功率变换器各开关器件的导通占空比,实现异步电动机的速度调节。仿真结果表明,系统具有很好的负载扰动抑制能力和转速跟踪性能。

Speed Regulation of Induction Motors Based on Port-Controlled Hamiltonian Systems and PI Control Principle

In view of the drive system including power converter and induction motor, speed control is studied based on energy-shaping and port controlled Hamiltonian （PCH） system theory. The desired error state PCH structure is assigned to the closed-loop niduction motor system by feedback control. The desired equilibrium of the system is obtained based on the idea of field orientation. The equilibrium stability of the closed loop system is also verified according to Lyapunov stability theorem. Using interconnection and damping assignment method, speed controllers are designed when the load torque is known and has disturbance. Proportional integral （PI） control of speed error is used to estimate the disturbance of load torque. Using space vector pulse width modulation （SVPWM） signal transformation method, speed regulation of induction motor is implemented by controlling the duty ratio of every converter switch. The simulation results show the system has good load disturbances attenuation and speed tracking performance.