基于自适应模糊滑模的PMSM无速度传感控制研究

为研究永磁同步电机（PMSM）在无速度传感器工况下的速度跟踪估计,以PMSM的工作原理为基础,建立了内埋式PMSM的数学模型。利用自适应模糊微分积分滑模鲁棒性强的优点,提出了在自适应模糊微分积分滑模控制条件下采用旋转高频电压注入法对电机转速估计的无速度传感器控制方案,并分析了电机在高低速运行时特点。仿真结果表明,采用高频注入法的自适应模糊微分积分滑模控制系统在高、低速工况下运行时稳定可靠,并具有较好的鲁棒性,能够实现速度跟踪估计。     

Adaptive gain scheduling with feedforward control system based on system model for PMSM

A feedforward controller for permanent magnet synchronous motor (PMSM) has been proposed in this study, and proportional and integral gain could be self-adaptive under different operating conditions. The control structure used in the feedforward system is the same as in the feedback control system. This control structure could guarantee independence of the speed command input to output with the disturbance input to output, which makes the system have better reference trajectory tracking and disturbances rejection. In order to obtain optimal control performance when the parameters are uncertain, a gain scheduling adaptive controller is used in the feedforward system. The proposed controller has been verified by the experimental and simulation results with less steady-state error and better dynamic response than the controllers without it under the condition of external load torque disturbance and PMSM parameter uncertainties.     

Discrete-time mode switching control with application to a PMSM position servo system

This paper presents a mode switching control (MSC) scheme in discrete-time domain for fast and precise set-point tracking in servo systems subject to control saturation and unknown disturbance. The basic idea is to combine the proximate time-optimal servomechanism (PTOS) and the composite nonlinear feedback (CNF) control, using the output position as the only measurable information for feedback. The PTOS is responsible for fast targeting in servo systems when the tracking error is large, and once the system trajectory enters into some specified region, the CNF will take over the control to ensure a smooth settling without compromising the fast transient performance. A reduced-order extended state observer is adopted to estimate the speed signal for feedback and the disturbance for compensation. The asymptotical stability of the proposed MSC scheme is analyzed and the switching conditions are provided. Simulation and experimental results on a permanent magnet synchronous motor (PMSM) servo system verify that the proposed control scheme is effective in improving the tracking performance for a wide range of target set-points.     

Speed tracking control of a permanent-magnet synchronous motor withstate and load torque observer

This paper is concerned with the speed tracking control problem for a permanent-magnet synchronous motor (PMSM) in the presence of an unknown load torque disturbance. After a brief review of the mathematical model of the PMSM, a speed tracking control law using the exact linearization methodology is introduced. The tracking control algorithm is completed by adding an extended observer which provides, on the one hand, the motor speed and acceleration and, on the other hand, estimates the unknown load torque. The stability of the closed-loop system composed of a nonlinear speed tracking controller and an observer is studied by the way of Lyapunov theory. Furthermore, the decoupling of the state observer and the load torque observer is discussed. Finally, a real-time implementation and the experimental results of the proposed control strategy are presented     

基于RBF神经网络的永磁同步伺服电机控制系统

针对永磁同步电机控制系统,建立其磁场定向控制数学模型。运用增量式数字PID的方法实现对PMSM的传统PID控制策略。在此基础上,借助RBF神经网络的学习能力,进行PID控制器参数的自适应整定,进一步改善PID控制器的性能。同时,为提高RBF网络性能,采用粒子群算法对网络进行优化。仿真表明,与传统PID控制比较,基于RBF的PID控制系统能提高PID控制器的性能,改善了PMSM控制系统的收敛速度和跟踪精度。     

基于扩张状态观测器的永磁同步电机无差拍电流预测控制

针对永磁同步电机预测控制中电机参数扰动偏差造成的输出电流静差及振荡问题,采用基于扩张状态观测器的无差拍电流预测控制算法,构建相应的扰动观测器来观测参数偏差造成的系统扰动,为传统预测控制算法提供实时性扰动补偿。采用有功阻尼概念对转速PI参数进行设计,并针对控制系统的延时进行了补偿。仿真结果表明所提出的算法能够快速无静差地观测系统扰动,有效避免参数扰动偏差对电流预测系统的影响,同时转速环也具有良好的动态性能。     

永磁同步电机伺服系统自抗扰控制器设计

对永磁同步电机(PMSM)调速系统中的时变输入提出具有更高跟踪精确度的改进型自抗扰控制策略.传统的自抗扰控制主要针对阶跃信号进行快速和无静差追踪,对时变信号存在较大的跟踪误差,使自抗扰控制的应用受限.文中对稳态误差的存在原因进行了理论分析,进而设计带有微分前馈和并联线性扩张状态观测器(P-LESO)的改进型转速自抗扰控...     

A harmonic injection SPWM method for the high-responsive PMSM control system

In a permanent magnet synchronous motor (PMSM) control system, usually, the phase voltage instruction is limited independently to prevent a three-phase pulse width modulation (PWM) wave from overflowing. This method decreases the efficiency of the bus voltage and causes voltage vector direction errors. To solve these problems, we propose a harmonic injection sinusoidal pulse-width modulation (SPWM). This method uses harmonic injected sinusoidal PWM to improve the utilisation ratio of the bus voltage, and consequently improve system performance. In this paper, we analyse the problem in terms of potential difference. The simulation results show that the proposed method can increase the utilisation ratio of the bus voltage up to 15.4%, and the voltage vector mode obtained with the proposed algorithm is larger than that obtained with the conventional one. The method with harmonic injection consequently improves current response, without affecting voltage vector accuracy. The experiment results validate the proposed method.     

Precise tracking control of shape memory alloy actuator systems using hyperbolic tangential sliding mode control with time delay estimation

This paper focuses on a simple and robust tracking control method based on a hyperbolic tangential sliding mode control (SMC) and time delay estimation (TDE) for a shape memory alloy (SMA) actuator. The TDE is used to compensate for hysteresis and other nonlinearities in the SMA dynamics, and the hyperbolic tangential SMC is used to specify nonlinear error dynamics which slides without exceeding the velocity limitation. The implementation process of the proposed control is easy by virtue of its model-free nature and transparent structure. The precise and robust tracking performance of the proposed control is verified by experiments on a bias-type SMA actuator system. Through the experiment, small tracking errors are observed throughout a significantly wide range of speed for a desired trajectory, and successfully maintained on the order of 10^?2° against an external disturbance.     

永磁同步电机矢量控制系统的EKF无传感器控制策略

介绍了一种基于扩展卡尔曼滤波的永磁同步电机无传感器转子位置与速度估算方法,并以此为基础实现了永磁同步电机的无传感器矢量控制系统。通过测量流过电机定子电流和电机端电压在线估计电机转子的位置和速度,实现永磁同步电机的无传感器控制策略。仿真和实验结果验证了该方案的可行性及有效性。     

基于直接反馈线性的永磁同化步电机直接转矩控制

文中应用一种基于直接反馈线性化（DFL）理论的非线性控制方法．通过对系统输出变量进行李微分,得到反馈线性化所需的坐标变换和非线性系统状态反馈．实现了永磁同步电机系统的输入输出线性化．并将原系统分解为两个线性子系统：转速线性子系统和励磁电流线性子系统,实现了系统的解耦。仿真结果表明：基于直接反馈线性化解耦的永磁同步电机直接转矩控制系统具有较好的速度跟踪性能并提高了系统对电流扰动的鲁棒性。     

基于dSPACE的永磁同步电机矢量控制系统研究

在讨论永磁同步电机转子三种基本结构基础上,建立了永磁同步电动机在旋转坐标系下的数学模型。提出基于转子磁链定向的永磁同步电机转速、电流双闭环矢量控制策略,并在Matlab/Simulink环境下搭建系统模型,进行仿真验证。最后,构造以dSPACE1103为核心的永磁同步电动机实验平台,对一台1.5kW的面贴式永磁同步电动...     

永磁同步电机伺服系统控制中的自抗扰控制策略

本文以高精度伺服系统中的永磁同步电机变速扫描为研究对象,针对自抗扰控制器中跟踪微分器(trace differentiator,TD)及扩张状态观测器(expansion state observer,ESO)模块的延时响应和参数复杂等缺点,设计了一种改进的自抗扰控制器,有效简化了其TD和ESO模块并减少可调参数,以实现内外干扰较大的环境下电机的高精度快速响应。将该控制器应用到某型号项目的伺服摆扫镜机构中,并将其性能与同条件下传统比例-积分-微分(proportion-integration-differential,PID)控制器性能作对比。实验结果表明:改进的自抗扰控制器表现出优于PID的控制性能,0°/s^10°/s响应时间75 ms,超调小于6%,稳态精度达到±1%;变速跟踪过程转速波动小,无超调,扫描周期时间波动小于0.0014 s,起始位置角度定位精度高于0.0015°,满足型号项目指标要求。改进的自抗扰控制器对其他搭载永磁同步电机实现变速跟踪扫描的系统也有一定的参考价值。     

基于MRAS的永磁同步电机直接转矩控制系统的研究

研究了一种基于模型参考自适应无速度传感器的永磁同步电机直接转矩控制系统:将永磁同步电机的磁链模型作为参考模型,估算的定子磁链模型作为可调模型,设计了自适应定律对电机的转速与定子电阻同时进行跟踪辨识,使用空间电压矢量调制技术组成了永磁同步电机无速度传感器直接转矩控制系统。仿真实验结果表明该系统获得了近似圆形的定子磁链,在转速与转矩变化时均能准确的估算出电机转速,具有良好的动、静态性能。     

基于ESO磁链观测器的直接转矩控制的研究

讨论直接转矩控制方法在永磁同步电机中的应用问题,利用MATLAB仿真工具时永磁同步电机直接转矩控制系统仿真.针对直接转矩控制低速时存在较大转矩脉动的问题,采用观测器方法克服传统磁链模型中参数的不确定性对磁链观测精度的影响.保证全速范围内磁链的准确估计.提高控制性能.仿真表明观测磁链具有较高的精度,对电阻的不确定变化具有较强的鲁棒性.并可准确估计无速度传感器的速度及位置.     

引入微分控制思想的辅助GPS载波跟踪环路设计

 载波信号跟踪环路制约着GPS接收机的工作性能,针对其易受高动态和弱信号等环境干扰的缺陷,提出一种引入微分控制思想、应用SINS辅助接收机载波跟踪环路的设计方法.剖析应用于载波跟踪的相位锁定环(Phase Locked Loop,PLL),并将其近似为PI控制模型;在验证辅助信息引入时环路系统稳定的基础上,增加类微分控制项,利用SINS的输出和时钟误差信息估算的多普勒频率作为跟踪环路的中心频率,辅助PLL实现载波信号跟踪;仿真结果表明提出方法能够有效地缩短跟踪环路带宽,缓解热噪声和动态应力之间的矛盾,进而改善载波环路的频率响应和跟踪误差.     

Optimal two-vector combination-based model predictive current control with compensation for PMSM drives

The duty-ratio-based model predictive control (D-MPC) is rapidly researched for permanent-magnet synchronous machine (PMSM) drives. Existing D-MPC methods produce large current ripple and distortion. To solve this issue and promote the system performance, an optimal two-vector combination MPC (OTC-MPC) is proposed for current control in this paper. The collection of the combination is firstly produced for the proposed OTC-MPC by combining the two vectors and corresponding duty-ratio, and then the optimal combination is selected among all feasible two-vector combinations, thus, the output vectors and duty-ratio are simultaneously optimised. The optimising process is simplified so that the proposed OTC-MPC can be easily implemented. Moreover, a simplified repetitive control with feed-forward compensation method is added to eliminate the predictive current errors of MPC, and also to improve the system robustness against external disturbances. Theoretical analysis, simulation and experimental results demonstrate that the proposed OTC-MPC effectively reduces current ripple and distortion while retaining fast dynamic response compared with the conventional D-MPC.     

基于DSP的永磁同步电机速度与位置计算方法

现代数控系统,对控制精度要求越来越高。在这个要求的基础上,对电机速度和位置的控制就成了首要的问题。为了更好地提高对精度的控制,以达到系统高性能的要求,文章以TMS320LF2812 DSP芯片为核心控制芯片,设计一种基于PMSM速度与位置计算方法。通过这种方法建立PMSM矢量控制系统,从而提高系统性能。     

Decoupling internal model control for the robust engagement of clutches

Research on the robustness of clutch engagement control is attracting considerable interest because of its wide applications in advanced powertrains. Internal model control (IMC) is advantageous because it can handle model errors and external disturbances with light computational loads. However, during clutch engagement, two control inputs (engine output torque and clutch transmitted torque) and two system outputs (driving speed and the driven part of the clutch) are coupled; moreover, the two reference inputs are considerably different. A method for directly decoupling and stabilizing multi-input multi-output systems controlled by a two-degree-of-freedom (2DOF) IMC is proposed based on the construction of V-canonical matrices. The proposed method allows simple expressions for the control algorithm to be obtained without computing an inverse matrix that is used conventionally. Two filters, considering both the reference inputs and system characteristics, are independently designed considering the decoupling operation. The simulation results show that the proposed decoupling 2DOF IMC gains a considerably less tracking error and better robustness to model error and disturbance compared to classical 2DOF IMC and model predictive control. The performance is validated via dynamometer experiments.     

永磁同步电动机的一种新型转矩鲁棒控制方法

基于Lyaponov稳定性埋论，针对水磁同步电动机（PMSM）提出了一种结构简单的转矩控制方法。由于这种控制方法是基于Lyaponov理论提出的，所以保证了整个控制系统的稳定性。使用带有跟踪误差积分项的Lyaponov函数，提高了跟踪误差的收敛速度，实现了电磁转矩对给定值的全局一致跟踪。仿真结果表明了这种控制方法的有效性。