基于非线性干扰观测器的IPMSM改进无模型滑模控制

doi:10.12052/gdutxb.230078

摘要/Abstract

摘要： 针对内置式永磁同步电机参数摄动导致模型不确定而影响系统控制性能的问题，提出一种基于非线性干扰观测器的内置式永磁同步电机改进无模型滑模控制方法。首先，建立考虑参数摄动的内置式永磁同步电机(Interior Permanent Magnet Synchronous Motor, IPMSM) 新型超局部模型；其次，利用改进滑模趋近律设计滑模控制器作为无模型控制中的反馈控制器；然后，设计非线性干扰观测器来观测估计无模型控制中的未知复杂项；最后，与传统无模型滑模控制方法进行仿真实验对比；仿真实验结果证明所提方法能有效解决系统参数摄动影响电机控制性能等问题，验证了所提方法的有效性及优越性。

关键词: 内置式永磁同步电机, 改进趋近律, 无模型滑模控制, 非线性干扰观测器

Abstract: In order to address the problem that the parameter perturbation of interior permanent magnet synchronous motor leads to model uncertainty and affects the system control performance, an improved model-free sliding mode control method for interior permanent magnet synchronous motor based on nonlinear disturbance observer is proposed. Firstly, a new hyperlocal model of IPMSM considering parameter perturbation is established. Secondly, a sliding mode controller is designed as a feedback controller in model-free control by using the improved sliding mode reaching law. Then a nonlinear disturbance observer is designed to observe and estimate the model-free Unknown complex items in the control. Finally, a simulation comparison experiment is carried out with the traditional model-free sliding mode control method. The simulation experiment results prove that the proposed method can effectively solve the problems of system parameter perturbation affecting the motor control performance, with the effectiveness and superiority of the proposed method verified.

Key words: IPMSM, improved reaching law, model-free sliding mode control, nonlinear disturbance observer

中图分类号:

TM341

谷爱昱, 庞城洁, 黎家麟, 陈志凯, 孟洋. 基于非线性干扰观测器的IPMSM改进无模型滑模控制[J]. 广东工业大学学报,doi: 10.12052/gdutxb.230078

Gu Ai-yu, Pang Cheng-jie, Li Jia-lin, Chen Zhi-kai, Meng Yang. Improved Model-free Sliding Mode Control of Interior Permanent Magnet Synchronous Motor Based on Nonlinear Disturbance Observer[J]. Journal of Guangdong University of Technology, doi: 10.12052/gdutxb.230078

参考文献

[1] 宋建国, 林强强, 牟蓬涛, 等. 内置式永磁同步电机MTPA和弱磁控制[J]. 电力电子技术, 2017, 51(5): 84-86.
SONG J G, LIN Q Q, MOU P T, et al. MTPA and flux-weaken control for IPMSM [J]. Power Electronics Technology, 2017, 51(5): 84-86.
[2] 马志林, 高梦迪, 刘从虎, 等. 内置式永磁同步电机低噪声控制策略研究[J]. 控制工程, 2022, 29(1): 83-90.
MA Z L, GAO M D, LIU C H, et al. Research on low noise control strategy for interior permanent magnet synchronous motor [J]. Control Engineering, 2022, 29(1): 83-90.
[3] 刘志刚, 李世华. 基于永磁同步电机模型辨识与补偿的自抗扰控制器[J]. 中国电机工程学报, 2008(24): 118-123.
LIU Z G, LI S H. An active disturbance rejection controller based on permanent magnet synchronous motor model identification and compensation [J]. Chinese Journal of Electrical Engineering, 2008(24): 118-123.
[4] 赵越, 刘斌. 基于滑模变结构的内置式永磁同步电机弱磁矢量控制[J]. 信息与控制, 2017, 46(4): 428-436.
ZHAO Y, LIU B. Flux-weakening vector control of interior permanent magnet synchronous motor based on sliding mode variable structure controller [J]. Information and Control, 2017, 46(4): 428-436.
[5] 陈文汉, 孙丹, 王铭泽. 断相故障下开绕组永磁同步电机模型预测控制容错控制策略研究[J]. 电工技术学报, 2021, 36(1): 77-86.
CHEN W H, SUN D, WANG M Z. Research on fault-tolerant strategy based on model predictive control for open-winding pmsm system under open-phase fault [J]. Journal of Electrical Engineering Technology, 2021, 36(1): 77-86.
[6] 康尔良, 陈健. 永磁同步电机改进滑模无位置传感器控制[J]. 电机与控制学报, 2022, 26(10): 88-97.
KANG E L, CHEN J. Improved sliding mode sensorless control for permanent magnet synchronous motors [J]. Journal of Electrical Machinery and Control, 2022, 26(10): 88-97.
[7] 彭思齐, 蒋雨函, 兰志勇, 等. 永磁同步电机新型指数型自适应滑模观测器无传感器控制[J]. 电机与控制学报, 2022, 26(5): 104-114.
PENG S Q, JIANG Y H, LAN Z H, et al. Sensorless control of new exponential adaptive sliding mode observer permanent magnet synchronous motors [J]. Journal of Electrical Machinery and Control, 2022, 26(5): 104-114.
[8] 张兴华, 唐其太. 考虑参数和负载不确定性的内置式永磁同步电机自适应反步控制[J]. 控制与决策, 2016, 31(8): 1509-1512.
ZHANG X H, TANG Q T. Adaptive backstepping control of interior permanent magnet synchronous motor considering parameter and load uncertainties [J]. Control and Decision Making, 2016, 31(8): 1509-1512.
[9] 蒋学程, 彭侠夫, 何栋炜. 永磁同步电机模型自适应补偿速度控制[J]. 电机与控制学报, 2011, 15(10): 69-74.
JIANG X C, PENG X F, HE D W. Permanent magnet synchronous motor model adaptive model compensation speed control [J]. Journal of Electrical Machinery and Control, 2011, 15(10): 69-74.
[10] 侯忠生. 无模型自适应控制的现状与展望[J]. 控制理论与应用, 2006, 23(4): 586-592.
HOU Z S. The status and prospects of model free adaptive control [J]. Control Theory and Applications, 2006, 23(4): 586-592.
[11] FLIESS M, JOIN C. Model-free control [J]. International Journal of Control, 2013, 86(12): 2228-2252.
[12] ZHAO K H, YIN T H, ZHANG C F, et al. Robust model-free nonsingular terminal sliding mode control for PMSM demagnetization fault [J]. IEEE Access, 2019, 7: 15737-15748.
[13] GAO P, ZHANG G M, LYU X D. Model-free hybrid control with intelligent proportional integral and super-twisting sliding mode control of PMSM drives [J]. Electronics, 2020, 9(9): 1427.
[14] 黄宜山, 唐润忠, 旷明秋, 等. 基于快速趋近律的永磁同步电机驱动系统改进无模型滑模控制[J]. 机车电传动, 2022(3): 148-155.
HUANG Y S, TANG R Z, KUANG M Q, et al. Improved model-free sliding mode control for permanent magnet synchronous motor drive system based on quick reaching law [J]. Locomotive Electric Transmission, 2022(3): 148-155.
[15] 赵凯辉, 殷童欢, 张昌凡, 等. 永磁同步电机无模型滑模控制方法研究[J]. 电子测量与仪器学报, 2018, 32(4): 172-180.
ZHAO K H, YIN T H, ZHANG C F, et al. Research on model-free sliding mode control of permanent magnet synchronous motor [J]. Journal of Electronic Measurement and Instrumentation, 2018, 32(4): 172-180.
[16] 赵凯辉, 戴旺坷, 周瑞睿, 等. 基于扩展滑模扰动观测器的永磁同步电机新型无模型滑模控制[J]. 中国电机工程学报, 2022, 42(6): 2375-2386.
ZHAO K H, DAI W K, ZHOU R R, et al. Novel model free sliding mode control of permanent magnet synchronous motor based on extended sliding mode disturbance observer [J]. Chinese Journal of Electrical Engineering, 2022, 42(6): 2375-2386.
[17] 侯利民, 何佩宇, 王巍, 等. 基于ESO的PMSM无模型自适应滑模控制研究[J]. 控制工程, 2022, 29(11): 2082-2089.
HOU L M, HE P Y, WANG W, et al. Research on model-free adaptive sliding mode control for PMSM based on ESO [J]. Control Engineering, 2022, 29(11): 2082-2089.
[18] 米根锁, 梁骅旗. 基于干扰观测器的机械臂非线性滑模控制[J]. 系统仿真学报, 2019, 31(9): 1935-1941.
MI G S, LIANG H Q. Nonlinear sliding mode control for manipulator based on disturbance observer [J]. Journal of System Simulation, 2019, 31(9): 1935-1941.
[19] 陆婋泉, 林鹤云, 韩俊林. 永磁同步电机的扰动观测器无位置传感器控制[J]. 中国电机工程学报, 2016, 36(5): 1387-1394.
LU Y Q, LIN H Y, HAN J L. Position sensorless control of permanent magnet synchronous machine using a disturbance observer [J]. Chinese Journal of Electrical Engineering, 2016, 36(5): 1387-1394.
[20] 李蕴倬, 侯利民, 王巍, 等. 基于NDOB的滑模速度调节PMSM的NLSEF电流控制[J]. 控制工程, 2021, 28(6): 1093-1099.
LI Y Z, HOU L M, WANG W, et al. NLSEF current control of PMSM with sliding mode speed regulation based on NDOB [J]. Control Engineering, 2021, 28(6): 1093-1099.

Metrics

Viewed

Full text

Abstract

Cited

Shared

Discussed