永磁同步电机直接转矩控制技术研究

与异步电机相比,永磁同步电机具有结构简单、功率因数高、转矩惯量比大等优点。但是它也存在定子和转矩脉动大,开关频率不恒定等诸多问题。该文针对永磁同步电机直接转矩控制中出现的转矩脉动较大的问题,提出了一种永磁同步电机无磁链闭环直接转矩模糊控制的方法。该方法采用模糊控制器作为转速环的控制器,并去除磁链闭环,加入磁链限幅环节,将转矩作为控制目标,通过模糊控制器的优化,得出系统具有良好动态性能和自适应性。     

基于模糊分数阶PID的开关磁阻电机直接瞬时转矩控制

针对开关磁阻电机直接瞬时转矩控制系统,引入分数阶积分与分数阶微分和二维模糊控制器结合,设计模糊分数阶PID转速外环控制器,提出了基于模糊分数阶PID的开关磁阻电机直接瞬时转矩控制。引入分数阶积分可提高系统的稳态精度,削弱积分饱和引起的大超调;运用分数阶微分解决原一阶微分易受高频干扰的缺点,提高系统的动态性能;基于RBF神经网络设计了PID转矩内环控制器,适应开关磁阻电机的非线性,实现转矩的双闭环跟踪控制。通过仿真表明:设计的模糊分数阶PID转速外环控制器能有效减小开关磁阻电机转矩脉动,系统快速达到稳态,动态性能良好,适应性强。     

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。     

两自由度导管机器人的动力学仿真研究

对三形状记忆合金(SMA)螺旋弹簧驱动的导管机器人的动态特性进行了研究。首先基于综合力学方程、SMA的本构方程和传热方程建立了动力学模型,然后针对双输入双输出(TITO)系统的2个自由度间存在强耦合和因SMA的高度非线性使得难以采用解耦实现对相邻SMA驱动器控制的现象,设计了具有混合结构的模糊控制器。它用传统的模糊控制器控制系统的2个自由度,同时用耦合模糊控制器补偿2个自由度之间的耦合作用。仿真结果表明,所推导的动力学模型能够正确描述这种结构的特性,并且混合模糊控制器具有良好的控制效果。     

直驱式螺杆泵无刷直流电机的模糊自适应PID控制

针对传统螺杆泵驱动的弊端,提出采用直接驱动螺杆泵的方式省去电机和光轩之间的传动机构,提高传动效率.但在省去中间传动机构后.光杆上所受到的各种扰动无缓冲的作用在电机轴上.为了克服传统PID控制器在采油系统中存在的缺点,在控制系统中引入模糊自适应PID控制以增强系统的鲁棒性.仿真结果表明.模糊自适应PID控制方法在这种非线性、时变的采油系统中.具有更强的鲁棒性.     

基于模糊自适应PID的加样臂位置控制

为实现快速、平稳的加样臂位置控制,将模糊控制与传统PID控制相结合,设计出基于模糊自适应PID的位置控制器.通过模糊控制在线调整位置环PID控制器的3个参数,使控制器具有较强的自适应能力和抗负载扰动能力,同时还具有传统PID控制器精度高的优点.仿真结果表明,基于模糊自适应PID的位置控制器比传统PID位置控制器响应速度快,调节时间短并具有抗干扰能力.进行了加样臂的运动控制实验,以传统PID控制作为对比,通过改变加样臂的运动环境验证了模糊自适应PID控制可以实现加样臂的准确位置控制并具有一定的自适应能力,可以为类似控制器的设计提供参考.     

空调房间温度模糊分数阶PID控制器的设计

针对具有大时滞、大惯性和时变等动态特性的空调房间对象,综合模糊控制与分数阶PID控制理论,提出了模糊分数阶PID室温控制器的设计方法.首先,对于空调房间温度对象,进行数学建模.然后,运用模糊控制规则,获取相应的分数阶PID室温控制器的控制参数,从而构建出空调房间温度的模糊分数阶PID控制系统.并且,通过数值仿真对其进行验证.结果表明,该模糊分数阶PID室温控制器是可行的,与分数阶PID控制器相比,具有更好的控制性能.     

自适应模糊滑模控制裹包机PMSM交流伺服系统

针对接缝式裹包机的交流伺服系统控制精度差的问题,提出了采用自适应模糊滑模控制器,控制具有高效率的永磁铁同步电机(PMSM)伺服驱动系统.仿真和实验结果表明,系统对于参数变化和外面负载扰动的鲁棒性大大提高,而且控制力大为降低.     

基于模糊PID对3-RPS并联机器人轨迹跟踪控制

并联机器人因具有刚度大、承载能力强、精度高等优点,被广泛应用于各个领域,但由于它是一个多输入多输出系统,存在严重的非线性性,因此对其进行控制研究显得尤为重要.通过设定3-RPS型并联机器人动平台的期望参考值,根据逆运动学,基于Matlab SimMechanics软件建模仿真求得各支路驱动副的期望位移.设计PID控制器、模糊PID控制器,对3-RPS型并联机器人进行轨迹跟踪控制仿真对比分析,结果表明:采用模糊PID控制可有效降低轨迹跟踪误差,提高系统的控制精度和稳定性.     

空调系统神经模糊控制器-仿真和优化

以恒温空调系统为控制对象，对神经模糊控制器、常规模糊控制器和PID控制器进行了数字仿真，并用单纯形法对控制比例因子进行了参数寻优，获得了最优参数和动态响应曲线；通过对神经模糊控制器的优化学习，大大提高了神经模糊控制器的控制精度和稳定性，其性能优于最优化的PID控制器和最优化的常规模糊控制器，能有效地满足温度控制要求，并具有较好的鲁棒性；由于神经模糊控制器具有模糊控制和神经网络的智能，经过优化学习后，它具有艮好的控制性能和自适应能力。     

Implementation of feedback-linearization-modelled induction motor drive through an adaptive simplified neuro-fuzzy approach

A simple modified version of neuro-fuzzy controller (NFC) method based on single-input, reduced membership function in conjunction with an intuitive flux–speed decoupled feedback linearization (FBL) approach of induction motor (IM) model is presented in this paper. The proposed NFC with FBL remarkably suppresses the torque and speed ripple and shows improved performance. Further, the modified NFC is tuned by genetic algorithm (GA) approach for optimal performance of FBL-based IM drive. Moreover, the GA searches the optimal parameters of the simplified NFC in order to ensure the global convergence of error. The proposed simplified NFC integrates the concept of fuzzy logic and neural network structure like a conventional NFC, but it has the advantages of simplicity and improved computational efficiency over the conventional NFC as the single input introduced here is an error (speed and torque) instead of two inputs, error and change in error, as in the conventional NFC. This structure makes the proposed NFC robust and simple as compared with conventional NFC and thus, can be easily applied to real-time industry application. The proposed system incorporated with different control methods is also validated with extensive experimental results using DSP2812. The effectiveness of the proposed method using FBL of IM drive is investigated in simulation as well as in experiment with different working modes. It is evident from the comparative results that the system performance is not deteriorated using the proposed simple NFC as compared to the conventional NFC; rather, it shows superior performance over PI-controller-based drive.     

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.     

基于模糊滑模切换控制的PMSMS弱磁调速控制策略

针对表贴式永磁同步电主轴(PMSMS)弱磁控制方案中,主轴系统调速性能欠佳的问题,提出一种基于模糊滑模切换控制(FSMSC)的超前角弱磁调速策略。在转速误差大于设定阈值时,使用模糊控制器实现主轴转速快速趋近给定值,利用模糊控制的特点对控制器进行实时的参数调整,使系统具有更强的鲁棒性;在转速误差小于设定阈值时,使用趋近律滑模控制器提高系统抗干扰能力,减小加工过程中因负载突变造成的加工误差,进一步增强系统鲁棒性。实验结果表明,基于FSMSC的超前角弱磁调速策略能有效抑制定子电流震荡以及电磁转矩脉动,并且控制器对抖动因子参数敏感性低,参数调节便捷,在实际加工中具有重要意义。     

Controller design and FPGA implementation of a speed‐sensorless vector‐controlled induction motor drive based on stability consideration

Abstract

The purpose of this paper is to determine the controller parameter tuning range for a speed sensorless vector‐ controlled induction motor drive from the system stability point of view. The tuning rules for conventional PI controllers are mostly based on experience. Trial‐and‐error procedures are used to tune the values of the controller parameters. The relationship between the tuned controller parameters and the stable operating range of the control system is generally not known. This paper starts from establishing complete dynamic models for a sensorless vector‐controlled induction motor drive. The nonlinear dynamic models are linearized around a chosen operating point. The characteristic equation is then derived, which is used to determine the values of the controller parameters corresponding to the marginal system stability. Based on these critical values, the tuning ranges of the controller parameters are obtained, which assures stable operation of the drive in the entire operating region and provides a reference for controller parameter tuning. The proposed method is further extended to include the effect of parameter sensitivity due to motor parameter variation. An experimental setup based on a DSP‐FPGA system is implemented. The simulation and experiments confirm the validity of the proposed approach.     

Experimental determination of mechanical parameters in sensorless vector-controlled induction motor drive

High-performance industrial drives widely employ induction motors with position sensorless vector control (SLVC). The state-of-the-art SLVC is first reviewed in this paper. An improved design procedure for current and flux controllers is proposed for SLVC drives when the inverter delay is significant. The speed controller design in such a drive is highly sensitive to the mechanical parameters of the induction motor. These mechanical parameters change with the load coupled. This paper proposes a method to experimentally determine the moment of inertia and mechanical time constant of the induction motor drive along with the load driven. The proposed method is based on acceleration and deceleration of the motor under constant torque, which is achieved using a sensorless vector-controlled drive itself. Experimental results from a 5-hp induction motor drive are presented.     

Speed controller design of direct torque control system for induction motors by using adaptive supervisory Fuzzy-CMAC

A model-free approach was used to develop an adaptive supervisory Fuzzy-cerebellar model articulation controller (ASFCMAC) for a direct torque control system for an induction motor without shaft encoder. The two parts of the ASFCMAC are a supervisory controller for limiting tracking error to a bounded range and a Fuzzy-cerebellar model articulation controller subsystem for learning and approximating system dynamics. The ASFCMAC parameters are tuned according to adaptive rules derived from Lyapunov stability theory. Simulations and experimental comparisons with adaptive Fuzzy-cerebellar model articulation controller, adaptive cerebellar model articulation controller, fuzzy logic control, and proportional–integral control show that the proposed ASFCMAC has a superior root mean square error in operation over a wide range of speeds.     

基于模糊逻辑的异步电动机转速控制

本文设计了基于模糊逻辑控制的速度控制器,以提高异步电动机矢量控制系统对参数变化和负载扰动的鲁棒性,并通过MABLAB/SIMULIINK仿真将其与PI控制的系统速度响应进行比较,仿真结果表明模糊控制能使系统取得较好的控制性能并具有较强的鲁棒性.     

二元翼段间隙非线性颤振的模糊控制

根据模糊控制不依赖于被控对象的精确模型,对参数变化不敏感,具有很强鲁棒性的特点,提出一种模糊逻辑控制器,对包含间隙的二元机翼极限环振荡进行控制,并对其响应机理进行探讨和研究。数值仿真结果表明,模糊控制器能够有效抑制非线性极限环振动,使系统迅速达到稳定,提高系统颤振速度。     

Adaptive controller design for a synchronous reluctance motor drive system with direct torque control

The design and implementation of adaptive controllers for a sensorless synchronous reluctance drive system with direct torque control is proposed. Two adaptive control algorithms, which include adaptive backstepping control and model-reference adaptive control, are proposed to improve the performance of a sensorless direct torque control synchronous reluctance motor drive system. A digital signal processor, TMS320-C30, is used to execute the rotor position estimating technique and the adaptive control algorithms. The system shows good transient responses, good load disturbance responses and good tracking responses. Several experimental results validate the theoretical analysis. The advanced controller design for a sensorless synchronous reluctance motor drive with direct torque control is proposed.     

基于模糊控制的印刷电子装备套准系统控制策略

目的为了提高凹版印刷电子装备的制造精度和一致性,提出一种将模糊控制与PID(Proportion-Integral-Differential)控制有机融合的多层套准系统控制策略。方法在2层套准系统模型基础上,结合多层套准系统的套印工艺,建立4层套准系统非线性耦合数学模型,有机结合模糊控制和PID控制设计4层套准系统模糊PID控制策略,并利用Simulink软件对所提出的控制策略进行仿真研究。结果仿真结果表明,提出的套准系统模糊PID控制策略很好地抑制了张力波动、速度干扰、料带性能变化引起的套准误差。结论提出的多层套准系统控制策略实现了高精度套准控制,具有比PID控制器更好的控制性能。