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。     

永磁同步电机抗干扰复合滑模控制器的设计

目的 在灌装、封口等包装作业过程中,提高永磁同步电机的快速响应和抗干扰能力,同时减少控制系统的抖振现象。方法 提出一种复合滑模控制策略,设计一种能适应滑模面和系统状态变化的分段速率滑模趋近律,将其与新型积分滑模面结合,设计一种带速度环的滑模控制器。同时,设计一个干扰观测器,用于估计闭环系统的扰动,并将估计后的扰动实时补偿到控制器的输出电流中,构建复合控制器。结果 仿真结果表明,设计的控制器能够显著提高收敛速度,并有效减少了控制系统的抖振,从而提高了动态质量。此外,干扰观测器与控制器结合的复合控制器可以提高系统的抗干扰能力,从而进一步提高了控制性能。结论 文中提出的复合滑模控制策略可以有效提高永磁同步电机调速系统的动态性能,减少控制系统的抖振,为实现高效、稳定的控制提供了有效的解决方案。     

造纸机速度链控制系统设计

目的为改善造纸机多电机同步控制效果,降低纸张生产过程断裂率,基于神经网络PID算法设计一种造纸机速度链控制系统。方法阐述造纸机的工艺流程,在此基础上建立造纸机速度同步控制数学模型。设计一个神经网络PID控制器,包括控制器结构和学习算法,可用于解决相关非线性问题,并进行仿真和试验研究。结果该控制系统具有较好的稳定性、适应性,响应速度较快,同步精度高。结论该方法增强了造纸机的同步跟随能力和抗干扰性能,可以有效避免断纸、褶皱等现象的发生,为造纸机多电机同步控制提供了一种有效的方法。     

Model reference adaptive control-based adaptive current control scheme of a PM synchronous motor with an improved servo performance

A model reference adaptive control (MRAC)-based current control scheme of a PM synchronous motor with an improved servo performance is presented. Although the predictive current control is known to give ideal transient and steady-state responses among various PWM inverter-fed current control schemes for a PM synchronous motor, its steady-state response may be degraded under the motor parameter variations. To overcome such a limitation, the disturbances caused by the parameter variations will be estimated using an MRAC technique and compensated by a feedforward manner. Thus, the steady-state control performance can be effectively improved, while retaining its good dynamic performance. The proposed control scheme does not require the measurement of the phase voltage unlike the conventional disturbance estimation scheme using observer. This can be an effective way considering the phase voltage contains much harmonics as well as noise. The asymptotic stability of the overall system is proved and the adaptation laws are derived by the Lyapunov stability theory. The proposed scheme is implemented using DSP TMS320C31 and the effectiveness is verified through the comparative simulations and experiments.     

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.     

Identification of Heffron-Phillips model parameters for synchronous generators operating in closed loop

Heffron-Phillips model of a synchronous machine is commonly used in small signal stability analysis and for off-line design of power system stabilisers. The data used to determine the parameters of this model are either hard to measure or require the machine to be taken off-line to take the measurements which, in general, is inconvenient. identifying these parameters from online data measurements is important since it does not require any a priori knowledge of the machine data. the problem of closed-loop identification of the Heffron-Phillips model parameters is of practical importance since the data used for identification can be gathered when the machine is normally connected to the power system. the use of open-loop identification techniques using data gathered during closed-loop operation of synchronous generators leads to bias errors in the estimated parameters. motivated by the fact that the synchronous machine model is multivariable and is well defined in a state space structure, a closed-loop subspace parameter identification technique is proposed. consistency of the proposed approach is illustrated using Monte Carlo analysis. comparison of the proposed method with open-loop identification technique shows the superiority of this approach.     

瓦楞纸箱印刷多轴控制方法设计

目的为提高瓦楞纸箱印刷过程多轴同步控制精度,采用偏差耦合控制设计一种多轴同步控制算法。方法在介绍瓦楞纸印刷机结构的基础上,以印刷模块多电机控制为研究对象,基于偏差耦合控制阐述多轴位置控制问题。为减小同步误差,设计一种变论域模糊控制算法。在传统模糊控制的基础上,引入伸缩因子以实现模糊控制输入和输出的动态调节。集合ARM和FPGA设计多轴同步控制器。最后,进行实验研究。结果电机同步误差会在1 s内趋于0,同步性能比较理想;变论域模糊控制可将最大同步位置误差控制在2 rad/s内;各色套印的准确度较高,并没有出现错印等情况。结论所述瓦楞纸箱多轴控制方法响应速度较快、运行稳定,可以完全满足瓦楞纸箱印刷要求。     

凹印机电子轴传动多电机同步控制策略

目的各色组版辊独立运转是电子轴传动印刷机的重要特点,其控制系统中多电机的同步是关键,研究多电机同步控制策略,以保证印刷品质量。方法对比了主从式结构和平行式结构,并应用Matlab对2种不同结构进行建模和仿真研究。结果确定了电子轴传动同步控制的平行式结构策略,并对其进行了改进;提出了采用基于模糊PI算法的速度补偿器,取代耦合系数K1和K2的同步控制结构。结论该策略提高了双电机同步控制系统的同步跟随和抗干扰性能,增强了凹版印刷机电子轴传动多电机的同步协调控制。     

基于虚拟总轴的制袋机多轴同步控制系统设计

目的为了提高制袋产品质量及同步控制精度,实现产品技术升级,设计一种基于虚拟总轴的多轴同步控制系统。方法以三边封制袋机为研究对象,介绍其工艺流程及工作原理,搭建其运动控制系统拓扑结构,基于虚拟总轴同步控制策略,详细分析制袋机多轴同步控制基本原理,设计一种浮辊补偿算法,给出软件设计方法,并通过实际运行采集实验数据进行验证。结果该控制系统可以满足制袋机的运动控制要求,补偿相邻两轴间的同步误差,使得制袋系统两牵引轴间同步误差控制在0.3%左右。结论引入该策略的同步控制系统具有良好的同步性与稳定性,提高了制袋质量、精度和效率,降低次品率,较好地满足了制袋机裁切精度要求。     

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。     

Control of a converter system for an asymmetrical parameter type two-phase induction motor drive operating in motoring and generating modes

The control of a converter system is presented and discussed for an asymmetrical parameter type two-phase induction machine drive that is operating in motoring and generating modes. The proposed system consists of back-to-back voltage source converters. For a machine side, a three-leg voltage source converter provides both unbalanced and balanced two-phase output voltages with a scalar V/F control based on a carrier space vector pulse width modulation (SVPWM) technique. For a front end, a single-phase AC/DC doubled voltage converter with hysteresis current control is used to keep DC-link voltage constant, thus resulting in a bi-directional power flow operation for the motoring and generating modes. A closed-loop design for the DC-link voltage is fully given and also included is a review of carrier-based SVPWM for two-phase three-leg VSI. The proposed drive system was both simulated using MATLAB/SIMULINK and implemented on digital microcontrollers. The comparative performance evaluation of the whole system between balanced and unbalanced two-phase voltages for the machine is given. The simulation and experimental results show that the unbalanced phase voltage offers better performance for the whole system.     

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。     

Dynamic performance of a vector-controlled five-phase synchronous reluctance motor drive: an experimental investigation

Multi-phase ac motor drives are nowadays considered for various applications due to numerous advantages that they offer when compared with their three-phase counterparts. In principle, control methods for multi-phase machines are the same as for three-phase machines. The operation of an indirect vectorcontrolled five-phase synchronous reluctance machine with current control in the stationary reference frame is analysed. Performance, obtainable with ramp-comparison current control, is illustrated for a number of operating conditions on the basis of experimental results. Full decoupling of rotor flux control and torque control is realised. Excellent dynamic response is achieved during acceleration, deceleration and reversing transients of machine.     

Development of a hybrid negotiation scheme for multi-agent manufacturing systems

A hybrid inter-agent negotiation mechanism based on currency and a pre-emption control scheme is proposed to improve the performance of multi-agent manufacturing systems. The multi-agent system considered consists mainly of four types of agents: machine, clone, part and mediator. The machine agent controls the scheduling and the execution of a task. The clone agent aims to maximize the utilization rate by attracting relevant work to the machine. The part agent communicates with the machine agent or clone agent to acquire necessary production resources in order to get the required processing done, and the mediator agent contains the status of the part that will be processed by the subcontracting machine agent. The primary objective is to design decentralized control protocols for discrete part manufacturing systems to enhance the efficiency of the system and to allocate dynamically the resources to critical jobs based on the dynamic search tree. This research incorporates both the currency and the pre-emption schemes within a common framework. Currency functions are used to help the agents meet their individual objectives, whereas the pre-emption scheme is used to expedite the processing of parts based on their due dates. A dynamic search algorithm for the best route selection of different operations based on the job completion time is also proposed and it is implemented on a small manufacturing unit.     

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.     

径向环形编织机机电一体化系统建模及控制策略研究

针对径向环形编织机电气特性与机械特性的差异导致的编织机电机易超载甚至被烧毁的问题,建立了编织机机电一体化系统模型。该模型包括编织环模型和牵引滑台模型,其中编织环模型由88个齿轮的闭合传动与4个永磁同步电机的同步驱动耦合而成,牵引滑台模型由永磁同步电机的驱动与滚珠丝杠的运动耦合而成。为了解决编织环上4个电机因齿侧间隙等的存在造成的负载不均,提出了转矩均衡控制方法,即：主电机受速度环和电流环双环闭合控制,从电机只受电流环控制;主电机速度环的输出量作为从电机电流环的给定量。为了较快地使编织环电机组的转速与滑台电机的转速满足协同关系,提出了跟踪性能与同步性能解耦控制方法即交叉耦合解耦控制方法,将跟踪误差补偿量按一定比例关系缩小至幅值以下,以凸显协调误差补偿的效果。进行了现场实验,结果表明,采取所提出的控制策略能够使编织环4个电机的输出转矩相差较小,而且在电机启动与加减速阶段可以使编织环主电机与滑台电机的转速达到协同要求的时间大幅缩短。根据控制策略设计了编织机伺服控制系统。研究结果对织物编织质量的提高起到了重要的指导作用。     

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。     

枕式包装机运动分析及控制系统设计

目的针对枕式包装机的运动控制问题,实现电子凸轮、三轴同步控制等关键技术。方法以三伺服枕式包装机为例,介绍其具体结构,包括送膜、送料、横封横切、纵封装置和制袋成型器等。对枕式包装机的运动特点进行分析,同时简述其功能。设计一种枕式包装机控制系统,并详细论述基于DSP的通用运动控制器结构。最后,给出软件设计方法,结合三次多项式、定步法和查表法实现电子凸轮;采用主从同步控制实现枕式包装机的三轴同步控制。结果该控制系统可以满足枕式包装机的运动控制要求,能够提高包装质量、精度和效率,降低次品率。结论通过实验验证了所述控制方法和系统的可行性和有效性。     

基于EXCITE-Timing Drive的正时同步带系统的动力学分析

应用发动机分析软件AVL-ETD,对某四缸汽油机的正时同步带传动系统进行了动力学仿真计算。分析了各个转速下皮带的动力学特性,对正时同步带系统动力学特性的影响因素进行了分析优化,得出降低曲轴的转速波动可有效提高正时同步带系统的动力学性能。为配气阀系及正时系统构件的改进设计提供了依据,而且为配气阀系、正时系统及整机NVH性能等的分析提供了必须的边界条件。     

Synchronous amplitude and time control for an optimum dynamic range variable photonic delay line

A synchronous-amplitude-controlled and time-delay-controlled photonic controller for phased-array antenna applications is proposed and demonstrated. Amplitude control is based on a variable optical attenuator system that operates in synchronism with the photonic delay line (PDL). This amplitude control system can provide both the signal calibration for the different PDL channels and settings required for driving the antenna elements of a phased-array radar and the optimum optical power levels that impinge on the photodetector for optimum fiber-optic-link performance. Various variable amplitude control modules based on ferroelectric liquid crystals, polymer-dispersed liquid crystals, and photoconductive devices are proposed. We show that the dynamic range loss due to a switched-PDL inherent structure loss can be compensated when we control the optical power from the laser, using the synchronous optical attenuation system. For the first time to our knowledge, full dynamic range loss compensation is demonstrated for an external-modulation-fed 3-bit switched PDL with a structure optical insertion loss of 5.5 dB. A compression dynamic range of 158 dB.Hz was measured at 6 GHz, and a spurious free dynamic range of 111 dB.Hz(2/3) was estimated. Feasibility of the dynamic range compensation technique for multichannel, higher-insertion-loss PDL systems is discussed.