High response torque control of IPMSM using state feedback control based on n‐t coordinate system

This paper proposes a torque control method for interior permanent magnet synchronous motors (IPMSMs). The proposed method uses state feedback control based on a new n‐t coordinate system and controls the voltage amplitude and phase based on the coordinate system. The t‐axis is a tangent line of the constant voltage ellipse, and the n‐axis is a normal line of the ellipse. The n‐axis current is utilized to place the poles of the transfer function at the desired position and reduce the mutual coupling between the voltage amplitude controller and phase controller. The proposed method realizes a high torque response even under parameter variation for the linear range and over‐modulation range of the inverter, including a 6‐step mode. The effectiveness of the proposed method was verified by simulation and experimental results.     

基于状态负反馈的电力系统混沌控制

在某些情况下,电力系统可能出现混沌现象,从而对系统的稳定性产生影响。利用状态负反馈控制,通过选取合适的反馈系数,镇定系统的不稳定周期轨道,达到抑制混沌振荡的目的。仿真实验的结果进一步证明了该方法的有效性,其对于保障电力系统的稳定性具有较好价值。     

状态反馈精确线性化永磁同步电动机转速控制

对采用微分几何方法设计永磁同步电机转速控制器的可行性进行了研究.从永磁同步电机的数学模型出发,运用微分几何理论,讨论了控制永磁同步电机转速的理论基础,给出了永磁同步电机可以进行精确线性化和输出函数可以取电机转速的条件;在此基础上设计了状态反馈控制器,研究了这种控制器的动态响应特性和抗干扰能力.将这种控制器与同一数学模型下PI控制器进行了控制结果的仿真对比,结果表明,利用微分几何理论设计控制器对永磁同步电机模型进行控制是完全可行的,且有更高的控制精确度和稳态特性,动态性能得到明显改善.     

基于时间延迟状态反馈的PMSM混沌反控制

根据永磁同步电机的数学模型,运用微分几何理论讨论了永磁同步电机可以进行精确线性化的条件,在全状态空间中实现了永磁同步电机的精确线性化.在此基础上,运用延迟状态反馈设计了混沌反馈控制器,对这种控制器的控制结果进行了仿真研究.并针对控制参数的不同对混沌反控制的影响进行了仿真研究,明确了控制参数的选择方向.仿真结果说明利用状态延迟反馈精确线性化设计混沌反控制器是完全可行的,结果是满足要求的.     

基于状态观测器的状态反馈控制在300MW单元机组协调控制系统中的应用

在单元机组机理性数学模型的基础上，设计了一种增量式状态观测器，提出基于状态观测器的状态反馈与常规PID控制相结合的新型控制方法。采用状态反馈控制克服锅炉的时滞与惯性，提高机组负荷适应能力，应用PID控制保证控制系统的稳态指标。该算法还具有在分散控制系统中易于实现的优点。该控制方案在一台300MW单元机组中的实际应用效果表明：采用基于增量式状态观测器的状态反馈控制，可有效克服锅炉的时滞与惯性，同时还由于其减缓了模型失配的程度，因而可克服非线性、参数慢时变等不确定性因素的影响，特别是当机组负荷发生较大变化时，本方案更显示出其优良的控制性能。     

基于DSP的永磁同步电动机控制系统设计

为提高永磁同步电动机（PMSM）伺服系统的控制精度和实时性,设计了基于数字信号处理器（DSP）的全数字PMSM控制系统。TMS320F28335型DSP的片上资源丰富,有浮点运算单元,使系统硬件设计更方便,运算速度更快。在PMSM数学模型和矢量控制原理的基础上,设计了PMSM控制系统的硬件和软件。该控制系统具有完成控制算法、电流和转子位置检测、速度计算、SVPWM产生等功能。在一台森创1.5 kW的PMSM上进行了实验,结果表明,控制系统调速准确,性能良好,运行稳定。     

Delayed feedback control of three‐synchronous‐generator infinite‐bus system

A delayed feedback method for controlling a three‐generator infinite‐bus system is investigated by computer simulation. Nothing but the output signal from the system is used for control. The time series of the phase angle of generators with a transmission line fault shows irregular motion and step‐out. It is found that the irregular motion of the electric power system is coerced onto stable equilibrium points with six stable manifolds by the same control law as the delayed feedback method. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 156(1): 7–12, 2006; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20329     

基于PMSM的智能型位置伺服控制系统研究

为了实现对系统位置的高精度控制,将智能滑模变结构控制策略引入到三闭环矢量控制中,设计了基于PMSM的智能位置伺服控制系统.系统的位置环采用模糊滑模变结构控制,并由主、从两个模糊控制器组成,主控制器用于产生输出控制量,从控制器在线调节主控制器的输出比例因子,以抑制滑动模态的抖振.仿真结果表明,该智能型位置伺服控制系统在大...     

永磁同步电机滑模调速控制及其实现

永磁同步电机（PMSM）的模型是一个多变量,非线性,强耦合的系统,而滑模变结构控制（SMC）具有快速响应,对参数变化及扰动不灵敏,算法简单,易于工程实现等优点,这为复杂工业控制问题提供了一种很好的解决途径。本文中的PMSM调速系统,以TMS320F2812为主控芯片,利用指数趋近律法下的滑模变结构控制器进行控制,给出了滑模控制器的位置式和增量式表达式。并将推导出的算法以增量式的形式编写进程序,作为调速系统的软件。最后通过MATLAB仿真和具体实验证明了该系统具有动态响应速度快,电磁转矩脉动小,稳定等众多优点,使系统具有更好的鲁棒性。     

基于Microchip DSC的SVPWM V／F控制系统研究

介绍了一种新型的电机控制专用芯片dsPIC30F6010,基于该芯片实现了空间矢量脉宽调制(SVPWM),并应用到V/F控制系统。对整个系统的软、硬件进行了设计,并给出了实验波形,验证了方案的可行性。     

Adaptive neural network command filtered backstepping control of pure‐feedback systems in presence of full state constraints

An adaptive neural network (NN) command filtered backstepping control is proposed for the pure‐feedback system subjected to time‐varying output/stated constraints. By introducing a one‐to‐one nonlinear mapping, the obstacle caused by full stated constraints is conquered. The adaptive control law is constructed by command filtered backstepping technology and radial basis function NNs, where only one learning parameter needs to be updated online. The stability analysis via nonlinear small‐gain theorem shows that all the signals in closed‐loop system are semiglobal uniformly ultimately bounded. The simulation examples demonstrate the effectiveness of the proposed control scheme.     

自驱动关节臂坐标测量机测控系统

为了使关节臂坐标测量机满足在线、自动批量和智能测量的需求,提出研究自驱动关节臂坐标测量机,研究了其测控系统.系统以计算机作为控制器,与6个驱动关节及触发测量电路等组建硬件系统,软件采用状态机与事件结构相结合的结构框架设计,实现自驱动关节臂坐标测量机的运动控制和规划路径采样点自动数据采集.搭建实验系统对测量机进行测试实验...     

A force‐reflecting friction‐free bilateral system based on a twin drive control system with torsional vibration suppression

This paper proposes a new friction‐free bilateral system based on twin drive control system considering resonant frequency for bilateral systems. The twin drive system consists of two motors which are coupled by the differential gear. The output torque becomes a different torque of both motors. The nonlinear friction torque of the twin drive system can be easily compensated. However, the resonant frequency and the antiresonant frequency caused by the tensional vibration exist. This paper proposes a new two‐mass model of twin drive system that supresses torsional vibration by state feedback. The proposed control method is applied to the bilateral robot, and the effectiveness of the control method is confirmed by the experimental results. © 2007 Wiley Periodicals, Inc. Electr Eng Jpn, 159(1): 72–79, 2007; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20355     

桥门式起重机吊重防摇状态反馈控制系统设计

为了防止桥门式起重机吊重在目标位置和期望时间时摇摆,针对电压控制直流电机驱动的小车吊重系统,建立了系统动力学方程,并在工程实用和允许范围内对该方程进行简化和状态空间描述.通过状态反馈控制,并考虑一对闭环主导极点,类似二阶系统性能分析推导出反馈控制器的调节参数公式.仿真结果表明小车在目标位置10 m、期望调节时间7s静止,同时吊重摆角衰减为零,控制系统具有良好的稳定性和期望的动态特性.     

基于旋转坐标系IPMSM的容错控制策略研究

针对内置式永磁同步电机(IPMSM),当以旋转变压器为位置传感器发生严重故障时,提出了一种故障诊断及容错的方案。采用了基于旋转坐标系的改进滑模观测器算法和TypeⅡ型跟踪环路转子位置和角速度提取算法,用于IPMSNM的转子位置和角速度的估算。利用估算数据分析并检测位置传感器是否出现故障,并采用加权算法实现故障情况下系统的平滑切换。通过搭建MATLAB/Simulink仿真模型对设计的方案进行验证,输出的结果显示了此方案具有较好的容错控制效果,说明了提出的这个方案可行性和有效性。     

Adaptive cross backstepping control for a class of nonstrict feedback nonlinear systems with partial state constraints

The tracking control problem for a class of partial state constrained nonlinear system is studied in this article. The system is divided into two semistrict feedback nonlinear subsystems, one is state constrained and the other is state free. By means of state transformation, the state constraint problem is transformed into the bounded problem of the transformed function. Compared with the barrier Lyapunov function (BLF) method, it not only solves the state constraint problem but also circumvents the feasibility check on virtual controllers. Based on the cross backstepping control, the constrained controller and unconstrained controller are designed simultaneously. It solves the coupling problem effectively in the design of cross processing control. On the other hand, dynamic surface control is used which effectively avoids “computation explosion” caused by backstepping control. The designed controllers can ensure the error signals converge to a small neighbourhood of zero and keep the asymmetric time-varying constraints on system partial states are satisfied for all the time. Finally, simulation experiments are carried out on a hyperchaotic Rössler system to verify the efficacy of the control scheme.     

Observer‐based nonlinear feedback decentralized neural adaptive dynamic surface control for large‐scale nonlinear systems

This paper presents a nonlinear gain feedback technique for observer‐based decentralized neural adaptive dynamic surface control of a class of large‐scale nonlinear systems with immeasurable states and uncertain interconnections among subsystems. Neural networks are used in the observer design to estimate the immeasurable states and thus facilitate the control design. Besides avoiding the complexity problem in traditional backstepping, the new nonlinear feedback gain method endows an automatic regulation ability into the pioneering dynamic surface control design and improvement in dynamic performance. Novel Lyapunov function is designed and rigorous stability analysis is given to show that all the closed‐loop signals are kept semiglobally uniformly ultimately bounded, and the output tracking errors can be guaranteed to converge to sufficient area around zero, with the bound values characterized by design parameters in an explicit manner. Simulation and comparative results are shown to verify effectiveness.     

基于状态反馈附加阻尼控制的柔性直流电网抑制低频振荡

为了提升交直流互联系统的动态稳定性,研究了利用多端柔性直流输电系统阻尼交流系统低频振荡的方法。分析了柔性直流电网接入后系统的振荡模态,研究了直流电网对交流系统稳定性的影响,并基于全维状态空间反馈设计了柔性直流系统的附加阻尼控制器。系统振荡时该附加阻尼控制器能够输出附加控制量,调节各换流站的有功功率,从而抑制系统的振荡。以含有四端柔性直流电网的新英格兰10机系统为例进行了仿真研究,仿真结果表明,引入了该控制器的柔性直流电网能够很好地抑制原系统的低频振荡,改善系统的动态性能。     

High‐bandwidth design of hard disk control system using H∞ control with feedback‐type uncertainty

In hard disk drives, it is important to enlarge the control bandwidth in order to shorten the track pitch for larger data capacity. However, it is difficult for the H_∞ control method to increase the control bandwidth if the mechanical resonance modes have uncertainty. This is because the robustness of the H_∞ control method is assured by the small‐gain theorem for additive or multiplicative perturbation and the control bandwidth is limited by the uncertainty. In this study, we propose an H_∞ control method for high‐bandwidth design by introducing a new uncertainty model with a feedforward and a feedback path in order to reduce the conservatism of robust design. The effectiveness is shown by numerical simulations. © 2010 Wiley Periodicals, Inc. Electr Eng Jpn, 173(4): 54–62, 2010; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.21025     

基于光储控制的微电网改进预同步控制及离并网切换策略研究

光储配合的微电网预同步控制和离并网切换策略是保证电网平滑运行的重要支撑。针对微电网和大电网之间存在的电压幅值、相位和频率偏差等问题,基于储能逆变器的V/f控制,引入大电网电压作为控制器参考量,简化预同步控制环节结构,提出一种改进的预同步方法。基于离网到并网负序电流变化,提出孤岛检测方法,确定离网信号的发出。考虑光储电源输出随机性和离并网切换特点,提出两储能单元分时转换V/f控制模式和P/Q控制模式的离-并网切换策略,分时控制降低系统切换冲击。设计离-并网切换试验、并-离网切换试验、三组光储出力并网策略对比实验,仿真运行结果表明,改进预同步方法在保证离-并网电压幅值、频率、相角偏差分别小于1%、±0.1 Hz、5°的同时,结构简单;基于两储能单元切换策略的并-离网切换时间缩短、冲击降低,验证了改进预同步方法和基于两储能单元切换策略的有效性。