基于电流解耦的表贴式永磁同步电机无源控制研究

为了提高表贴式永磁同步电机的电流环频率响应能力和转速响应性能,针对其无源控制器设计过程中因d轴、q轴电流存在耦合而造成期望互联矩阵未知参数过多的问题,结合电压前馈解耦控制,提出了一种基于电流解耦的无源控制器新型设计方法。首先,根据能量平衡原理和电压前馈解耦控制,构建基于电流解耦的表贴式永磁同步电机端口受控耗散哈密顿系统（port control Hamilton system with dissipation, PCHD）模型。然后,通过互联和阻尼配置的无源控制（interconnection and damping assignment passivity-based control, IDA-PBC）方法,完成表贴式永磁同步电机无源控制器的设计,并在设计过程中引入了电压前馈解耦控制,消除了d轴、q轴电流的耦合关系,使期望互联矩阵的未知参数由3个减少为1个。最后,搭建表贴式永磁同步电机测试平台进行实验验证。实验结果表明,当表贴式永磁同步电机的电流环采用基于电流解耦的无源控制器时,q轴电流响应频率由小于250 Hz增大为大于333 Hz;额定转速下的转速响应时间由0.16 s减小为0.11 s,超调量由2.0%减小为0.6%,稳态误差由5.98 r/min减小为1.15 r/min。研究结果可为永磁同步电机的无源控制器设计提供新思路。     

基于自适应扰动观测器的PMSM模型预测电流控制

目的 为了实现包装自动化生产线的高性能控制，针对永磁同步包装驱动电机在模型预测电流控制中对扰动敏感性较大的问题，设计一种基于自适应扰动观测器的模型预测电流控制策略。方法 利用预测误差设计一种自适应扰动观测器，对系统遭受的内部和外部的不确定扰动，扰动观测器估计总扰动并以电流的形式进行补偿。将系统的瞬态过程和稳态过程分别进行考虑，设计一种含有动态权重因子的新型损失函数。结果 通过MATLAB/SIMULINK仿真表明，与传统的控制方法相比，文中方法可以保持瞬态下的高速动态响应和稳态下的低电流纹波，并在应对参数失配和负载突变等问题上，展现了更好的稳态性能和抗干扰能力。结论 文中方法可以有效提升系统动态性能和鲁棒性，使改进后系统更加适用于包装机的应用场景。     

Implementation of an adaptive position control system of a permanent-magnet synchronous motor and its application

This study proposes an adaptive backstepping controller design for a position control system of permanent-magnet synchronous motors (PMSMs). The proposed system has good performance, including fast transient responses, good steady-state responses and good tracking responses. Based on a proper Lyapunov function, an adaptive backstepping position controller can be systematically developed. In addition, a notch filter is used in the current loop to reduce the limit cycles of the motor current. The control algorithm is implemented by using a Renesas digital signal processor. As a result, the hardware is very simple. The proposed control system includes a position-loop controller and a current-loop controller. All control loops are executed by the digital signal processor. Several experimental results are shown to validate the correctness and feasibility of the proposed control algorithms. The system can achieve a precise position control. In fact, a ball?screw table and a knitting machine have been applied to evaluate the performance of the control system. The study provides a new direction in the use of an advanced control technique in PMSMs and investigates its real industrial applications.     

Full speed range permanent magnet synchronous motor control without mechanical sensors

This study presents a control method for permanent magnet (PM) motors based on a combination of a non-linear full-order observer and a signal injection scheme. Stable mechanical-sensorless operating range down to zero speed at full load is obtained using only voltage and current sensors. The signal injection scheme uses the asymmetry of the motor?s d and q-axis inductances to estimate rotor position and speed. Such asymmetry is also taken into account in the motor model used to construct the observer to reduce current estimation error. The performance of the proposed scheme is validated through experimental results.     

基于超螺旋滑模扰动观测器的永磁同步电机无传感器抗干扰控制策略研究

目的 提高包装行业中自动化设备的工作精准度,优化传统永磁同步电机无传感器控制系统的稳定性,提高电机遭遇内外扰动后的系统鲁棒性和抗扰动性能。方法 引入超螺旋滑模算法,设计一种超螺旋滑模MRAS观测器来提高系统的稳定性,同时利用滑模扰动观测器对电机良好的动态进行性能追踪,利用超螺旋滑模算法对其进行性能优化,提出超螺旋滑模MRAS观测器和超螺旋滑模扰动观测器对永磁同步电机复合控制的策略。结果 该方案有效降低了电机遭遇扰动时转速估计误差,误差在0.8r/min附近波动,明显提高了电机控制系统遭遇干扰后的响应速度。结论 在MATLAB/SIMULINK中进行实验仿真,结果表明所提控制策略提高了系统的鲁棒性和追踪精度,加强了系统的抗干扰能力。     

Robust control of switch-mode rectifier considering nonlinear behaviour

This work presents the disturbance observer-based robust current and voltage controls for a digital signal processor (DSP)-based boost-type switch-mode rectifier (SMR) considering nonlinear behaviour. First, a robust current control scheme is developed to let the SMR inductor current waveform closely track its command around zero-crossing points, and hence the SMR possesses improved line drawn power quality. Then a robust voltage two-degrees-of-freedom control (2DOFC) scheme and its systematic design approach are proposed. In determining the power circuit components and the key parameters of the proposed robust control schemes, the compromise between the desired performance and the nonlinear behaviours is considered. Specifically, the adaptation of voltage robust compensation control is made according to the observed nonlinear phenomena. Experimental results confirm that robust and good voltage tracking and regulation responses are obtained by the developed SMR. Furthermore, the developed SMR is successfully applied to serve as a front-end converter of a switched reluctance motor drive, and its effectiveness in vibration reduction and power quality improvement is demonstrated experimentally     

Design and implementation of an adaptive inverse controller for a micro-permanent magnet synchronous motor control system

An adaptive inverse controller design for a micro-permanent magnet synchronous motor control system is proposed. The adaptive inverse controller is constructed by using an adaptive model and an adaptive controller. The parameters of the adaptive model and adaptive controller are on-line tuned. By using the proposed adaptive inverse controller, the transient responses, load disturbance responses and tracking responses of the control system are improved. To detect the shaft rotor position, a micro-encoder is attached with the micro-permanent magnet synchronous motor. The micro-encoder provides only 100 pulses/revolution because of its space limitation. As a result, the resolution of the position signal and speed signal is not good enough. In order to improve the resolution, a state estimator is proposed here. By using the proposed state estimator, the control system can be operated from 1 to 25 000 r/min. The adaptive inverse control algorithm and the state estimation algorithm are executed by a digital signal processor, TMS320F28335. In addition, the proposed adaptive inverse control algorithm can be applied to the position control for the micro-permanent magnet synchronous motor as well. Several experimental results validate the theoretical analysis. The experimental results show that the proposed system has good performance including transient responses, load disturbance responses, and tracking responses.     

A current ripple reduction of a high-speed miniature brushless direct current motor using instantaneous voltage control

High-speed miniature brushless direct current motor (BLDCM) is used in robots and medical applications because of its high-torque and high-speed characteristics. When compared with the general BLDCM, a high-speed miniature BLDCM has a low electrical time-constant. The current and torque ripple are very high when compared with the conventional pulse-width modulation (PWM) control scheme in the conduction period because of the inherent electrical characteristics. The authors propose a simple instantaneous source voltage and phase current control for torque ripple reduction of a high-speed miniature BLDCM. To reduce the switching current ripple, instantaneously controlled source voltage is supplied to the inverter system according to the motor speed and the load torque. In addition, a fast hysteresis current controller can keep the phase current within a limited band. Computer simulations and experimental results up to 40 000 rpm show the effectiveness and verification of the proposed control scheme.     

永磁同步电动机位置伺服系统的自适应神经网络控制

针对需要考虑参数不确定和负载扰动的永磁同步电动机位置伺服系统,提出了一种新型的自适应神经网络控制方法。首先,利用神经网络建立永磁同步电动机的智能模型。其次,针对模型特点,在反步递推设计框架下,应用神经网络基函数的本质特征,并引入动态面控制技术克服控制设计中存在的“复杂性爆炸”问题,设计基于自适应神经网络动态面控制的位置跟踪算法。最后,仿真结果表明该控制方案是有效可行的,与反步递推控制方案相比,基于神经网络动态面控制的位置伺服系统的跟踪误差具有更快的收敛速度。通过设计新的神经网络自适应律,提出的自适应神经网络控制方法可以避免现有反步递推控制设计中存在的代数环问题。此外,提出的控制算法不仅能够克服不确定性因素对系统性能的影响,而且算法结构简单,易于实现。     

基于模糊神经网络控制的混合式步进电动机伺服系统研究

在对二相混合式步进电动机实行最大转矩／电流矢量控制和IP位置控制的基础上,为克服参数时变和外界扰动对系统性能的影响,设计了一种新型高性能的参考模型自适应模糊神经网络控制器。实验结果表明所设计的位置伺服系统具有良好的性能。     

Development of a High-Speed Permanent-Magnet Brushless DC Motor for Driving Embroidery Machines

We describe the development of a permanent-magnet (PM) brushless DC motor for driving high-speed embroidery machines by employing advanced design and analysis techniques. In the design of the motor, magnetic field finite-element analyses accurately calculate the key motor parameters such as the air-gap flux, back electromotive force (EMF), and inductance. Using the numerical magnetic field solutions, a modified incremental energy method calculates the self and mutual inductances of the stator windings. A phasor diagram is derived to compute the motor's steady-state characteristics. To predict the dynamic performance and increase the prediction accuracy, a Simulink-based model simulates the motor performance with the real waveforms of applied phase voltage, back EMF, and current. The motor prototype tested with both a dynamometer and a high-speed embroidery machine validated the theoretical calculations.     

Direct torque and flux control of an IPM synchronous motor drive using a backstepping approach

A novel direct torque and flux controlled interior permanent magnet synchronous motor (IPMSM) drive using an adaptive backstepping technique is presented. Closed-loop regulation of the speed, torque and stator flux linkage is achieved by a non-linear controller. Using Lyapunov analysis, the stability of the controller is guaranteed. The reference voltage vectors are generated by a space vector modulation (SVM) unit, which replaces the switching table in the conventional direct torque control (DTC) scheme. While retaining its main advantages, the proposed backstepping controller features reduced torque and flux ripples as compared to the classical DTC. On the one hand, a comparison with the proportional-integral (PI) direct torque and flux control (DTFC) scheme shows that the proposed approach is superior. Experimental results confirm the effectiveness of the proposed method.     

有源电力滤波器半矢量预测控制策略研究

针对经典模型预测电流控制算法电压矢量选择范围有限、电流跟踪精度不高的问题,提出改进型模型预测电压控制算法。利用滚动寻优得到较优电压矢量,再利用较优电压矢量和零矢量各作用T_s/2得到半幅值矢量,根据较优电压矢量和半幅值矢量的评价函数选择最优电压矢量。每个周期仅增加一个电压矢量,能有效减小预测电压矢量和实际电压矢量之间的误差,实现对谐波电流的准确跟踪,提高有源电力滤波器的补偿性能。仿真结果表明,所提出的改进型模型预测电压控制算法与经典模型预测电流控制算法相比,补偿电流对参考电流的跟踪更加准确,经补偿后并网电流中的谐波含量由4.86%下降到3.32%,且在稳态和动态情况下都能实现单位功率因数并网。     

Improving the performance of hysteresis direct torque control of IPMSM using active filter topology

This paper describes an active filter topology to improve the performance of hysteresis direct torque control (HDTC) of interior permanent magnet synchronous motor (IPMSM). The filter topology consists of an active filter and two RLC filters, and is connected to the main power circuit through a 1:1 transformer. The active filter is characterized by detecting the harmonics in the motor phase voltages and injecting equivalent harmonic voltages to produce almost sinusoidal voltage waveform to the motor terminals. The active filter uses hysteresis voltage controller while the motor main circuit uses hysteresis direct torque control. The simulation results of this combined control structure show considerable torque ripple reduction in the steady state range and adequate dynamic torque performance as well as considerable harmonic voltage and EMI noise reduction.     

多电机无轴传动同步控制策略

目的在印刷行业中,电子轴的同步传动控制得到不断发展,通过对其多电机的同步控制策略进行研究,提高其生产效率和产品质量。方法对比现有的几种同步控制方式,并应用Matlab对这几种不同结构进行建模和仿真研究。结果通过仿真分析,发现现有的同步控制方式抗干扰性能和同步协调能力都不太理想,而偏差耦合同步控制超调量大,且主要应用于2台电机的同步,因此,提出了一种结合虚拟主轴控制方式的相邻耦合误差多电机同步控制策略。通过仿真数据分析,其达到稳定的时间和超调量都比现有的同步控制小,且抗干扰能力也得到了提高。结论该策略可以提高多电机同步控制系统的同步跟随性能和抗干扰性能,增强多电机电子轴传动的同步协调控制能力。     

基于改进布谷鸟搜索算法的永磁同步电机参数辨识

提出一种基于改进布谷鸟搜索算法的永磁同步电机参数辨识方法。针对布谷鸟搜索算法的不足,采用基于云隶属度的模糊推理调整巢主鸟发现外来鸟蛋的概率;采用自适应变步长的方法调整Lévy飞行步长。改进后的算法通过增加种群之间的多样性以加快收敛速度,提高了局部和全局寻优能力。永磁同步电机多参数辨识结果表明,改进布谷鸟搜索算法能有效地辨识电机各参数,与未改进算法相比,验证了改进算法的有效性和优越性能。     

Steady-state performance analysis of permanent magnet synchronousmotors including space harmonics

This paper describes the method for the analysis to obtain steady-state currents and torques of permanent magnet synchronous motors including space harmonics. A time-stepping finite element technique including the rotor movement is proposed, where both terminal voltage and load angle are given as the known values. In simulating the rotor movement, the suitable rotation step to take account of the effects of space harmonics, is determined. The agreement between calculated and measured results of the synchronous performance in an experimental motor is good     

混合储能系统分散自适应强扭曲虚拟阻抗控制

为提高负载冲击条件下混合储能系统(hybridenergystoragesystem,HESS)的稳定能力,考虑模型不确定及上界未知等现实约束,基于自适应高阶滑模控制理论,提出一种分散自适应强扭曲虚拟阻抗控制(decentralized adaptive super-twisting virtual impedance...     

An adaptive recurrent radial basis function network tracking controller for a two-dimensional piezo-positioning stage

An adaptive recurrent radial basis function network (ARRBFN) tracking controller for a two-dimensional piezo-positioning stage is proposed in this study. First, a mathematical model that represents the dynamics of the two-dimensional piezo-positioning stage is proposed. In this model, a hysteresis friction force that describes the hysteresis behavior of one-dimensional motion is used; and a nonconstant stiffness with the cross-coupling dynamic due to the effect of bending of a lever mechanism in x and y axes also is included. Then, according to the proposed mathematical model, an ARRBFN tracking controller is proposed. In the proposed ARRBFN control system, a recurrent radial basis function network (RRBFN) with accurate approximation capability is used to approximate an unknown dynamic function. The adaptive learning algorithms that can learn the parameters of the RRBFN on line are derived using Lyapunov stability theorem. Moreover, a robust compensator is proposed to confront the uncertainties, including approximation error, optimal parameter vectors, higher-order terms in Taylor series. To relax the requirement of the value of the lumped uncertainty in the robust compensator, an adaptive law is investigated to estimate the lumped uncertainty. Using the proposed control scheme, the position tracking performance is substantially improved and the robustness to uncertainties, including hysteresis friction force and cross-coupling stiffness, can be obtained as well. The tracking performance and the robustness to external load of the proposed ARRBFN control system are illustrated by some experimental results.     

离心式冷水机组中压变频启动设计

针对现场离心式冷水机组启动电流大造成供电跳闸的问题,提出采用中压变频器实现变频启动降低启动电流的解决方案,启动后采用同步切换技术自动完成电机由变频到工频运行的平稳切换。此方案应用于现场离心式冷水机组的改造,测试结果表明启动电流满足客户需求。