异步电机鲁棒控制器及其Backstepping设计

基于异步电机的精确模型,用Backstepping方法设计控制器,其误差系统在原点全局稳定。然而,由于反馈量的计算受参数不确定性和“可导条件”的影响,使得控制器鲁棒性较差,采用扩张状态观测器来增强鲁棒性,无需电机的精确模型,即可准确地获得反馈量,新控制器结合了Backstepping和扩张状态观测器的优点,能保证误差系统的稳定性,并具有很强的抗扰动能力,给出了控制器的详细设计过程和原理框图,并进行了数值仿真验证。

Backstepping design for robust controller of induction motor

Based on the exact model of induction motor, a controller is designed using backstepping method. The error system is globally stable at the origin. Unfortunately, because the calculation of feedbacks is influenced by parameter uncertainties and restrictions of "derivable condition", the controller has inferior robustness. Extended state observer is employed to improve the robustness. Feedbacks can be obtained without the knowledge of the exact model. The novel controller combines advantages of both backstepping and ESO, which guarantees the stability of the error system and the strong capability of disturbance-rejection. Detailed design procedures and theoretic diagrams of the controller are provided. Digital simulation verifiy the conclusion.