感应电机转矩跟踪无源控制及自适应观测器设计

针对感应电机高性能转矩跟踪控制和磁链难以直接测量问题,提出了基于无源性的转矩跟踪和自适应磁链观测器控制方案.首先基于感应电机的无源性特性设计了渐近稳定转矩跟踪控制器,重新配置了系统的平衡点,通过注入阻尼提高系统的收敛速度.然后通过将定子电流和转子磁链作为状态变量构建了自适应磁链观测器,简化了观测器结构,根据Lyapunov稳定性理论设计了自适应控制律,实现转子磁链、转速和定子电阻的在线估计.为减小转速估计误差对观测器的影响,给出了观测器增益矩阵的选择方法.仿真结果表明本文所提出的基于自适应观测器的无源控制方案能够有效提高感应电机的动静态性能.     

基于无源性的永磁电机无速度传感器控制

针对永磁电机(PMSM)提出了一种无速度传感器的非线性控制策略. 该策略能在已知负载的基础上实现给定转矩的精确跟踪. 电机的速度通过一非线性降阶观测器来实现估计. 在此基础上, 利用电机的无源特性来设计电机的控制策略. 最后通过仿真验证了所提出策略的有效性.     

动力定位船舶自适应滑模无源观测器设计

针对带有模型参数不确定性的动力定位船舶,提出一种动力定位船全速域自适应滑模无源观测器,解决了现有观测器只能应用于低速作业动力定位系统的问题.采用速度估计误差作为滑模面,设计切换自适应律估计模型不确定项上界,保证了观测器增益的有界性和系统鲁棒性.对速度估计回路的无源性进行了分析,并证明了观测器的稳定性.最后利用船舶动力定位系统半实物仿真平台,验证了算法的有效性.     

多端高压直流输电系统自适应无源控制

本文提出了一种基于扰动观测器的自适应无源控制(perturbation observer-based adaptive passive control,POAPC),并将其用于增加电压源型多端高压直流输电系统(voltage source converter-based multi-terminal high voltage direct current,VSC–MTDC)的阻尼.首先定义一个扰动项,其包含多端口间的相互作用、未建模动态和未知时变外界干扰的综合效应.之后扩展一个虚拟状态来表征该扰动项,进而设计一个扰动观测器对其进行快速在线估计.该方法通过无源化向每个端口注入附加阻尼以改善系统暂态响应,并且不需要精确的系统模型或全局状态测量.基于四端VSC–MTDC系统的4种算例表明:与传统PI控制、无源控制以及基于扰动观察器的滑动模态控制相比,POAPC由于不需要精确系统模型及全局状态测量而具有更高的应用灵活性;在各种运行条件下通过有效减少有功功率P_1和无功功率Q_1控制误差和超调量来获得更优的控制性能;在系统参数不确定场景下将有功功率P_2的峰值变化从11%减少至接近0,鲁棒性更强.     

无刷双馈调速电机无源性分析及自适应控制

应用无源性控制理论从能量角度研究了无刷双馈电机控制系统.建立了无刷双馈电机的欧拉方程,并将其分解为电气和机械两个无源子系统的反馈并联,以此说明在设计控制器时只需考虑电气子系统,简化了控制算法.设计了电机的转矩和转速控制器.在此基础上,考虑电机功率及控制绕组电阻在运行中可能发生变化.设计自适应控制器以提高系统的鲁棒性.仿真结果表明此控制策略能快速地跟踪速度给定.动静态响应能力较好,且具有全局稳定、系统鲁棒性好的特点.     

一类非线性系统的自适应无源化控制

讨论了一类含未知参数的非线性系统的自适应无源化问题.通过引入切换拓宽可反馈无源化对象的范围,在控制项前面的系数是未知参数线性函数的条件下构造出自适应无源反馈规律.在该条件不满足时,基于无源性分析给出了鲁棒自适应控制器,可以保证闭环系统是全局渐近稳定的.仿真结果表明了所提出算法的有效性.     

基于无源控制的PMSM无传感器方法研究

采用能量成形和互联、阻尼配置的无源性控制方法,完成了永磁同步电机的端口受控哈密顿系统(PCH)的建模和速度调节器的设计,证明了系统平衡点的稳定性。针对系统转速辨识问题,提出由脉振高频电压信号注入法和滑模自适应观测器法相结合的新型无速度传感器的复合方法。通过速度切换方案的设计,实现了两种方法间的平滑切换。解决了单一方法不能在全速度范围内同时兼顾良好的动态、稳态性能的问题,不仅节省了成本,还增强了整个系统的可靠性。仿真结果表明,该控制系统具有良好的动态、稳态性能。     

自适应模糊滑模软切换的PMSM无速度传感器鲁棒无源控制

针对永磁同步电机(PMSM)转速调节和估计问题,提出一种无速度传感器的PMSM调速系统.利用双曲正切函数代替符号函数,设计了自适应模糊滑模软切换控制器,实现了软切换连续控制,削弱了抖动现象.通过设计鲁棒无源控制器,得到了旋转坐标系下的u_d和u_q.建立了自适应滑模观测器,并给出了速度辨识律,观测器的增益通过求解线性矩阵不等式得到.仿真结果表明了该控制策略与观测器配合的有效性,且控制系统具有良好的动、稳态性能.     

一类未知参数非线性系统的自适应无源控制

对一类含有未知参数的本质非线性系统,通常的Backstepping方法无法应用.为此,提出一种基于状态反馈的自适应无源控制对策,通过对非线性系统进行反馈无源化控制,设计自适应无源镇定控制器和自适应无源输出跟踪控制器.设计中适当调节自适应无源控制器参数,能够保证闭环系统稳定且所有信号全局一致有界,从而解决了此类含有未知参数非线性系统的稳定性和输出跟踪问题.仿真算例验证了提出控制方案的有效性,表明系统具有较强的稳定性和跟踪特性.     

SLIDING‐MODE LINEARIZATION TORQUE CONTROL OF AN INDUCTION MOTOR

This paper proposes a sliding‐mode linearization torque control (SMLTC) for an induction motor (IM). An ideal feedback linearization torque control method is firstly adopted in order to decouple the torque and flux amplitude of the IM. However, the system parameters are uncertainties, which will influence the control performance of the IM in practical applications. Hence, to increase the robustness of the IM drive for high‐ performance applications, this SMLTC aims to improve the immunity of those uncertainties. We modify the flux observer of Benchaib and Edwards [15] by means of the adaptive sliding‐mode method. This not only eliminates the estimation of the uncertainty bounds, but also improves the performance of sliding control. In addition, a practical application of the proposed SMLTC, with a model reference adaptive control (MRAC) scheme incorporated as the inner and outer loop controller used for position control, is also presented. Some experiments are presented to verify the control theory and demonstrate the robustness and effectiveness of the proposed SMLTC.     

电流型逆变器变频调速系统的模型参考自适应控制

本文提出电流型逆变器变频调速系统的模型参考自适应控制方案.文中分析了系统和参考模型的结构,确定了适应机构的参数.实验表明,系统采用模型参考自适应后,提高了系统的动态与静态性能,增大了稳定运行的变频范围和电机的负载能力.     

ROBUSTNESS ANALYSIS ON SLIDING MODE CONTROL OF INDUCTION MOTOR

The aim of this paper is to establish that flux‐speed sliding mode control of induction machine is robust in the presence of saturation of magnetic core and rising resistance effects. Further, we show how to select the free control design parameters in order to maintain sliding mode regime. Simulation results are given to point out the good performances and the robustness of the studied control system. These simulations results are performed in the presence of hard disturbances represented by increasing of rotor resistances (by an amount 100%), and by decreasing stator and rotor inductance (respectively by an amount 25% and 50%)     

PERSISTENT EXCITATION IN A SHUNT DC MOTOR UNDER ADAPTIVE CONTROL

The adaptive input‐output linearizing control has been successful in achieving the asymptotic output tracking stability of a shunt DC motor, however, persistent excitation (PE) of the regressor has not been investigated. PE is known to be the necessary and sufficient condition for the exponential stability of a general adaptive system. Its fulfillment can be checked a priori when all the states entering the regressor track a prescribed trajectory asymptotically. However, it is rather difficult for this application because the regressor depends partly on the estimated parameters and the unobservable state which do not converge to any known signal at all. Nevertheless, it is found that such a task can actually be accomplished under some mild assumptions on the system and the reference trajectories. Simulation results confirming the assertion are given in the final sectien.     

REGIONAL STABILITY AND H∞ PERFORMANCE CONTROL OF AN INPUT‐SATURATED INDUCTION MOTOR VIA LMI APPROACH

In this paper, the robust speed control of an induction motor is investigated, and a parameter‐dependent model is addressed. The proposed scheme includes the feedback of states and the integral of the tracking error. In practice, considering the specification of the drive circuit, the saturation phenomenon of control signals is addressed. It is noted that the saturated signal is represented as a perturbed signal, which can be further investigated to determine the achieved robustness. Regional stability and H_∞ performance are discussed in this paper, where the derivations of feedback gains are formulated in terms of linear matrix inequalities (LMIs). To evaluate the control performances, a DSP‐based scheme for an induction motor was set up. Experimental results, associated with versatile command profiles and load conditions, show that the proposed system achieves satisfactory performance from the viewpoint of tracking accuracy and disturbance rejection.     

A DUAL‐MODE ADAPTIVE ROBUST CONTROLLER APPLIED TO THE SPEED CONTROL OF A THREE‐PHASE INDUCTION MOTOR

This work presents a Dual‐Mode Adaptive Robust Controller applied to the angular shaft speed control of a three‐phase induction motor. A liaison between a Model Reference Adaptive Controller (MRAC) and a Variable Structure Model Reference Adaptive Controller (VS‐MRAC) through a tuning parameter is obtained using fuzzy logic. The basic idea of the Dual‐Mode controller is adding both the advantages of the VS‐MRAC transient behavior with the steady‐state properties of the conventional MRAC.     

非线性系统的鲁棒自适应模糊控制

针对反馈线性化后的不确定非线性对象,提出了一种鲁棒自适应控制方法.采用模糊模型逼近不确定项,用逐步后推技术构造出自适应律,在线调节模糊模型的参数,同时处理存在估计误差时的干扰抑制问题.该方法还用于感应电动机速度控制的仿真.用李亚普诺夫方法证明了整个系统的稳定性和鲁棒性.该方法适用于任意有界时变干扰,通过模糊模型还可以加入对干扰的经验知识.     

采用新型控制方案的异步电动机变频调速微机仿人控制系统

本文主要研讨了交一直一交电流型逆变器异步电动机变频调速的微机控制系统。由于采用了原理简单的新型控制方案，且ＰＩ调节器引入仿人控制要求，使系统性能大大提高。作者在分析与计算的基础上，用ＣＭＣ－８０微机实现了对系统的控制，文中给出了软件设计中关键部分的程序框图，并附有实验波形。．     

一类模糊非线性系统自适应输出反馈控制

针对一类未知非线性系统,利用模糊逻辑系统、H∞控制和高增益观测器,提出了一种模糊自适应输出反馈控制方法.证明了所设计的输出反馈控制器可以获得状态反馈控制器的性能.仿真结果证明了所提出方法是有效的.     

感应电机无速度传感器直接转矩控制系统

为了实现对感应电动机的高性能控制,针对传统的速度辨识器存在的不足,提出了一种无速度传感器直接转矩控制系统.在该系统中,根据感应电机的数学模型,经过一定的变换,利用电动机易于检测到的定子电压和电流,以及基于BP算法的神经网络设计了一种速度辨识器,从而实现了无速度传感器的闭环控制.对所设计系统进行了仿真,结果表明该调速系统具有良好的稳态性能和动态性能,该设计是合理、有效的.