Anti‐windup algorithm with priority to proportional control output of speed PI controller for precision servo system

A robust servo system is important for performance improvement of motion control systems in several industry applications. Generally, a high‐speed positioning servo system consists of robust control systems with integrator, such as PI controller. The industrial servo system always has the limitation for the capacity of the actuator and power amplifier. An ordinary industrial position servo system often has to deal with the saturation of motor current and motor speed. It is difficult for the high‐speed positioning servo system to keep the robust position control against the saturation of motor current and motor speed. This is the case because an ordinary position servo system has a complicated control structure with many control loops. Hence, it sometimes has a large overshoot and an oscillated response due to the limitation of motor current and motor speed. In order to overcome this problem, this paper proposes a new robust high‐speed positioning servo system considering the saturation of torque current and motor speed. The experimental results show that the proposed robust high‐speed positioning servo system has quick and stable position response for the saturation of motor current and motor speed. © 2009 Wiley Periodicals, Inc. Electr Eng Jpn, 170(3): 57–64, 2010; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20904     

双滑模统一控制在交流伺服系统中的应用

针对强耦合数学模型的伺服系统抗干扰问题,提出了一种位置、电流双滑模统一设计的方法。这种方法可以采用控制电压向量的方法,使位置、速度、电流误差都以滑模规律自动衰减,并且电压向量的选择加入模糊控制,使控制柔化,减少了系统在滑模线附近的抖动现象,使系统鲁棒性好,响应速度快。通过Matlab6．5的仿真,验证了这种方法的可行性。     

采用预期电压矢量调制的PMSM直接转矩控制

为了解决永磁同步电机传统直接转矩控制中存在转矩和磁链脉动大的问题,设计了基于空间电压矢量调制(SVM)策略的直接转矩控制,通过SVM产生定子的预期电压,并且采用PI控制器代替传统直接转矩控制中的滞环比较器.同时在定子磁链观测中采用基于转子位置和定子电流的定子磁链估计方法.实验结果表明,与传统直接转矩控制项相比,所提出的方法能够可靠而有效地估计定子磁链,改善了电磁转矩和定子磁链的脉动,同时减小了电流和转速波动,并具有很好的动态、静态性能.     

基于滑模变结构矢量控制的异步电机调速

针对异步电机矢量控制系统因电机参数变化和负载波动等因素使调速性能变差的问题,在转差频率控制的异步电机矢量控制系统的基础上,用两个滑模变结构控制器代替传统的PI控制器分别控制d轴和q轴的电流,并采用电压空间矢量技术来调节电机的输入电压,达到调速的目的。仿真结果说明,所提的控制方式与传统的PI控制方式相比较,具有响应速度快、控制精度高,对负载波动和电机参数变化具有较强的鲁棒性。     

双馈风力发电机组网侧变换器电压空间矢量电流滞环控制

利用电压空间矢量滞环电流控制(VSM-HCC)和变速PI电压控制,实现了变速恒频(VSCF)双馈风力发电机组网侧变换器功率双向流动和直流侧电压稳定的控制目的。电压空间矢量调制方法的引入,降低了变换器的开关频率,同时也保留了滞环控制响应快、简单及鲁棒性好等优点。通过增加负载电流前馈补偿环节,提高了系统的响应速度,有效抑制了直流侧电压的波动。仿真验证了该控制策略比传统的双闭环PI控制对外部扰动有更好的自适应能力和良好的动态性能,并示出与VSCF双馈风力发电机组进行联调仿真的结果。     

模糊调节电压矢量角度和幅值的SPMSMDTC系统

针对永磁同步电机直接转矩控制转矩和磁链脉动较大的问题,提出了模糊调节电压矢量角度与幅值表面式永磁同步电机模糊直接转矩控制系统,采用模糊控制器和空间矢量调制技术取代传统直接转矩控制系统的滞环比较器和开关表输出电压矢量。模糊控制器输入量为磁链和转矩误差,输出量为输出电压矢量的角度和幅值。基于电压矢量幅值和角度对磁链和转矩的变化影响规律设计了模糊控制规则表。为了进一步抑制转速为负时的转矩脉动,设计自适应模糊直接转矩控制系统。仿真结果表明:模糊调节电压矢量角度与幅值的直接转矩控制系统可实现四象限运行,电机系统运行良好,仅在转速为负时,转矩脉动略有增大。自适应模糊直接转矩控制系统运行效果良好,在四象限内均可较好抑制转矩和磁链脉动。     

三次谐波电压注入的五相感应电机SVM-DTC方法

将空间电压矢量调制(SVM)与直接转矩控制(DTC)相结合,并根据集中整距绕组的特点,提出了三次谐波电压注入的五相感应电机SVM-DTC方法.对3种实现三次谐波注入的五相感应电机的SVM-DTC方案进行比较,并通过仿真实验分别予以实现.实验表明,提出的优化控制方案不仅实现了基波和三次谐波电压的闭环控制,并且同时保证了基波和三次谐波磁链的相位关系恒定,能够达到气隙磁密波形为准方波的控制要求.     

矢量控制系统动态电压解耦与调节器整定

采用动态解耦方法对定子电压进行解耦,提高解耦控制器对电机参数估计误差的鲁棒性,充分消除励磁电流内环与转矩电流内环之间的耦合.采用调节器常规工程设计方法,提出了一套异步电动机无速度传感器矢量控制系统双闭环PI调节器整定方法,实验结果验证了其良好的性能.     

Lower speed range drive for sensorless vector controlled induction machines with stator voltage offset compensation method

The vector control method is widely used for induction machine drives. Recently, sensorless vector control for induction machines has been investigated and proposed. The speed range for the drives is limited to about 1:100 in industry. The main reason for this limitation is the inaccuracy of stator voltage measurement. The lower the rotor speed is, the lower the stator voltage. Therefore, it is difficult to detect the stator voltage accurately in the lower speed region, and difficult to control motor speed and motor torque precisely. This paper presents a method of improving the lower speed performance of sensorless vector controlled induction machine drives using offset compensation of stator voltage. The offset is compensated by using the fluctuation of the estimated rotor flux. The validity of the proposed method is verified by experimentation. © 2000 Scripta Technica, Electr Eng Jpn, 133(1): 79–86, 2000     

A design method of digital robust speed servo system considering output saturation

When a robust servo system having an integral element has a large error input, it often reveals windup phenomena caused by output saturation. It is very difficult for a strictly proper and high‐order controller to avoid having windup phenomena caused by output saturation. This paper newly proposes the digital robust speed servo system with a complete algorithm for consideration of output saturation. The proposed algorithm completely considers the output saturation of a robust speed controller connected to a PI current controller in series. Moreover, this method can be applied to both a PI speed controller and an H^∞ speed controller. The experimental results show that a robust speed servo system using the proposed algorithm has a good and stable response for a large step speed command. © 2000 Scripta Technica, Electr Eng Jpn, 132(3): 68–78, 2000     

双电压合成调制和空间矢量调制的一致性

在深入分析矩阵变换器双电压合成调制和空间矢量调制策略基本原理的基础上,从数学的角度证明了2种调制策略占空比的计算表达式是一致的,说明2种调制策略宏观上是统一的。从开关序列安排、原点开关的基本概念以及功率因数控制等方面揭示了2种调制策略的一致性。受空间矢量调制中利用相反的有效矢量抑制共模电压的方法的启发,提出一种减少共模电压的双电压合成方法,仿真结果验证了该方法的正确性和可行性,进一步证实了空间矢量调制和双电压合成调制的内在一致性。     

永磁同步电动机模糊控制系统的研究

介绍一种基于矢量控制的永磁同步电动机系统,该系统的速度控制器采用模糊控制和PI控制相结合的控制策略,电流调节器采用PI控制策略,同时将矢量控制和电压空间矢量脉宽调制（SVPWM）控制应用到系统的闭环控制中。通过实验及长时间运行结果表明,该系统具有转速超调小、响应快和鲁棒性强的特点。     

采用80C196MC的三相交流电压调节装置

提出了一种采用80C196MC单片机控制的串联型三相交流电压调节装置 ,分析了系统的工作原理和电压空间矢量调制的实现方法 ,给出了系统控制电路结构图、单片机控制系统硬件电路结构图和控制软件框图 ,并对系统进行了实验研究。结果表明提出的系统能够有效地补偿电网电压的对称和不对称波动     

有限集预测控制减少三相电压源逆变器共模漏电流方法

为了解决光伏并网发电系统漏电流问题,针对三相电压源逆变器,提出一种新型有限集模型预测控制减少逆变器共模电压的方法,即对光伏并网发电系统进行建模分析。研究发现只有非零矢量用于减少共模电压,故将非零矢量带入价值函数得到最优的矢量并在下一个周期使用。该新型有限集模型预测控制将共模电压限制于±1/6Vdc,可以减少光伏发电系统中漏电流,保证人身安全。和传统PI控制方法相比,模型预测控制可以提高电流跟踪的速度和精度。实验结果表明,该新型有限集模型预测控制能够减少共模电压和控制负载电流,具有快速的动态响应。     

永磁直线同步电机超短反馈滑模控制研究

永磁直线同步电机矢量控制的速度环常采用PI控制。传统PI控制器在速度追踪时存在起动过程超调大、受到负载扰动时调节时间长等不足之处。为提高伺服性能,滑模控制被应用到伺服系统中,但其缺点是存在抖振问题。因此,提出一种基于内分泌激素调节的滑模控制方法,可以有效降低速度的超调量,缩短受到外部扰动时的调节时间。在MATLAB中搭建了系统的仿真模型,仿真结果表明其对速度和推力的控制效果显著,优于传统的PI控制和常规的滑模控制。     

Novel voltage limiter for fast torque response of IPMSM in voltage saturation region

A new voltage limiter for fast torque response of IPMSM in the voltage saturation region is proposed, which we name the “maximum torque response voltage limiter.” In transient condition, the fastest response is vital while voltage saturation occurs. Thus, the problem is to divide the limited voltage into d‐ and q‐axis voltages so as to generate the fastest torque response. The nonlinear relation between the torque and the d‐q axis currents of the IPMSM makes the problem complicated. In our proposed method, both voltage equations and a torque equation of the IPMSM are considered and, based on the Lagrange optimization technique, explicit expressions for the d‐ and q‐axis voltages are derived. Compared with conventional voltage limiters such as the constant phase angle method, the constant back emf method, and the constant d‐axis voltage method, the proposed limiter yields faster torque response in the voltage saturation region, which is confirmed by computer simulation and experimental results. Furthermore, the proposed method uses simple software calculations, and it can be readily implemented without any modification of the hardware system. © 2011 Wiley Periodicals, Inc. Electr Eng Jpn, 175(4): 57–69, 2011; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.21078     

永磁同步电机直接转矩控制系统转矩调节新方法

从开关频率优化和电压空间矢量合理选择2个方面提出了1种新的转矩调节方法。通过逆变器开关频率PI调节得到转矩滞环比较器的滞环宽度值,在充分利用功率器件开关频率的同时,不仅克服了圆形磁链轨迹对功率器件高开关频率要求的缺陷,而且克服了在转速变化过程中采用固定滞环宽度值带来的功率器件开关频率波动范围大且低速转矩调节性能下降的缺陷。针对零电压空间矢量的特点,为降低系统低速稳态运行时的转矩脉动且保证瞬态运行时转矩的快速响应,提出了在低速稳态运行时选用零电压空间矢量减小转矩、在低速瞬态运行时选用有效电压空间矢量来减小转矩的转矩调节方法。该方法在保证系统响应速度的同时减小了系统平均转矩脉动。实验结果表明新的转矩调节方法不仅能充分利用功率器件的开关频率,而且在低速时由于开关频率的提高反而获得了相对圆形磁链轨迹更小的转矩脉动。     

基于预期电压矢量的永磁同步电机直接转矩控制系统

传统的基于开关表的直接转矩控制存在着转矩和磁链脉动大、开关频率不固定等缺点。考虑到空间矢量脉宽调制技术在一个控制周期内能够产生等效的任意相位的电压矢量,为了改善直接转矩控制的控制效果,提出了一种预期电压矢量的确定方法,并用PI控制器代替传统直接转矩控制系统的滞环比较器,构造出一种基于预期电压矢量的直接转矩控制策略。通过与传统直接转矩控制策略的对比试验,表明提出的直接转矩控制策略具有电流谐波小、转矩和磁链的脉动小、速度响应快、稳态误差小等特点。     

Robust space vector modulation technique for unbalance voltage disturbances

Space vector modulation (SVM) is one of the most popular PWM techniques used in multilevel inverters. The calculation of reference vector location is very important for SVM technique to obtain exact switching times and to determine correct space vectors. Balanced/unbalanced voltage disturbance occurred in a three-phase system affects the switching times and output voltage of the multilevel inverter. In this study, effects of the disturbances such as line–line faults, balanced and unbalanced voltage sags/swells to SVM technique are investigated and a new technique derived from Clarke transformation is proposed. The effects of disturbances are minimized with this new method. Power System Computer-Aided Design is used to simulate the proposed test system.     

基于转子磁场定向控制的PMSM伺服系统建模仿真

在分析永磁同步电动机（PMSM）数学模型的基础上，建立了的转子磁场定向矢量控制的PMSM伺服系统模型。系统采用位置、转速和电流三闭环控制，其中位置环和速度环采用经典的PI控制，电流环采用转子磁场定向矢量控制，以实现瞬时的转矩调节。仿真模拟了PMSM的恒转矩起动、恒功率运行以及负转矩制动的全过程，实现了位置伺服的精确控制。