基于矢量控制的异步电机自抗扰控制
|
摘要
针对异步电机矢量控制系统在负载变化和电机参数变化时转速易受较大影响的问题,研究了采用自抗扰控制器(ADRC)对负载扰动和电机参数变化进行估计和补偿的方法。根据自抗扰控制器的数学特征和异步电机的数学模型,采用扩张状态观测器(ESO)对电机模型的参数摄动和变量耦合项进行观测并补偿,确定了矢量控制系统中自抗扰转速环控制器、自抗扰磁链环控制器、自抗扰d轴电流环控制器和自抗扰q轴电流环控制器的形式。仿真和实验结果表明,与传统的比例积分控制器(PI)相比,ADRC控制器对系统负载扰动和电机参数变化具有较好的鲁棒性和动态性能。
For induction motor vector control system,the problem is that speed is easy to be influenced by load and motor parameters. In this paper,the estimation and compensation method of load disturbance and motor parameters based on active disturbance rejection controller( ADRC) is studied for induction motor vector control system. According to the mathematical characteristics of ADRC and the mathematical model of asynchronous motor,the extended state observer( ESO) was used to observe and compensate parameter disturbance of motor model and variable coupling term. Speed loop ADRC controller,flux loop ADRC controller,d-axis current loop ADRC controller and q-axis current loop ADRC controller were determined. The simulations and experiments were performed for induction motor vector control system with ADRC controller or PI controller. The results show that ADRC controller has better robustness and dynamic performance.
For induction motor vector control system,the problem is that speed is easy to be influenced by load and motor parameters. In this paper,the estimation and compensation method of load disturbance and motor parameters based on active disturbance rejection controller( ADRC) is studied for induction motor vector control system. According to the mathematical characteristics of ADRC and the mathematical model of asynchronous motor,the extended state observer( ESO) was used to observe and compensate parameter disturbance of motor model and variable coupling term. Speed loop ADRC controller,flux loop ADRC controller,d-axis current loop ADRC controller and q-axis current loop ADRC controller were determined. The simulations and experiments were performed for induction motor vector control system with ADRC controller or PI controller. The results show that ADRC controller has better robustness and dynamic performance.
引文
[1]刘和平,汤梦阳,刘庆,等.基于定子磁链模型的异步电机转子时间常数辨识[J].电机与控制学报,2014,18(1):56.LIU Heping,TANG Mengyang,LIU Qing,et al.Rotor time constant identification of induction machine based on stator flux linkage model[J].Electric Machines and Control,2014,18(1):56.
[2]丁树业,关天宇,崔广慧.船舶驱动用异步电机三维温度场研究[J].哈尔滨理工大学报,2015,20(5):1.DING Shuye,GUAN Tianyu,CUI Guanghui.The research on 3Dtemperature field of asynchronous motor for ship drive[J].Journal of Harbin University of Science and Technology,2015,20(5):1.
[3]杜永红,李哲峰,刘志刚.异步电机间接磁场定向控制双闭环系统[J].电工技术学报,2009,24(5):24.DU Yonghong,LI Zhefeng,LIU Zhigang.Indirect field orientation double close loop system of induction motors[J].Transactions of China Electrotechnical Society,2009,24(5):24.
[4]杨淑英,丁大尉,李曦,等.基于反电动势滑模观测器的异步电机矢量控制[J].电机与控制学报,2016,20(10):23.YANG Shuying,DING Dawei,LI Xi,et al.Back-EMF based sliding mode observer for vector control of induction machine[J].Electric Machines and Control,2016,20(10):23.
[5]许叙遥,林辉.基于动态滑模控制的永磁同步电机位置速度一体化设计[J].电工技术学报,2014,29(5):77.XU Xuyao,LIN Hui.Integrated design for permanent magnet synchronous motor servo systems based on dynamic sliding mode control[J].Transactions of China Electrotechnical Society,2014,29(5):77.
[6]ZHANG Xiaoguang,SUN Lizhi,ZHAO Ke,et al.Nonlinear speed control for PMSM system using sliding-model control and disturbance compensation techniques[J].IEEE Transactions on Power Electronics,2013,28(3):1358.
[7]CHIANG HH,HSU K C,LI I H.Optimized adaptive motion control through an SOPC implementation for linear induction motor drives[J].IEEE/ASME Transactions on Mechatronics,2015,20(1):348.
[8]梅从立,殷开婷,黄文涛,等.基于数据驱动的感应电机多模型逆自适应解耦控制[J].控制与决策,2016,31(6):1037.MEI Congli,YIN Kaiting,HUANG Wentao,et al.Data-driven adaptive decoupling control of induction motors using multi-model inversion[J].Control and Decision,2016,31(6):1037.
[9]SCOLTOCK J,GEYER T,MADAWALA U K.A comparison of model predictive control schemes for MV induction motor drives[J].IEEE Transactions on Industrial Informatics,2013,9(2):909.
[10]孙伟,于泳,王高林,等.基于矢量控制的异步电机预测电流控制算法[J].中国电机工程学报,2014,34(21):3448.SUN Wei,YU Yong,WANG Gaolin,et al.A predictive current control scheme for induction motor with vector control[J].Proceedings of the CSEE,2014,34(21):3448.
[11]尹忠刚,牛剑博,钟彦儒.采用免疫算法的感应电机内模控制策略[J].中国电机工程学报,2013,33(24):97.YIN Zhonggang,NIU Jianbo,ZHONG Yanru.Research on an internal model control strategy for induction motors using the immune algorithm[J].Proceedings of the CSEE,2013,33(24):97.
[12]CHOU H W,CHEUNG N C.Disturbance and response time improvement ofsubmicrometer precision linear motion system by using modified disturbance compensator and internal model reference control[J].IEEE Transactions of Industrial Electronics,2013,60(1):139.
[13]白晶,李华德,郝智红.自抗扰控制器ADRC实现的感应电机变频调速系统[J].电工技术学报,2005,20(6):73.BAI Jing,LI Huade,HAO Zhihong.Induction-motor variablefrequency speed regulation system implemented by auto-disturbances-rejection controller[J].Transactions of China Electrotechnical Society,2005,20(6):73.
[14]韩京清.自抗扰控制技术-估计补偿不确定因素的控制技术[M].北京:国防工业出版社,2008.
[15]谢树林,李华德,郝智红,等.自抗扰控制器解决变频调速系统参数鲁棒性问题[J].电工技术学报,2005,20(9):61.XIE Shulin,LI Huade,HAO Zhihong,et al.Parameter robustness in the induction motor variable-frequency speed regulation system implemented by auto-disturbances-rejection controller[J].Transactions of China Electrotechnical Society,2005,20(9):61.
[16]HAN J.From PID toactive disturbance rejection control[J].IEEE Transactions on Industrial Electronics,2009,56(3):900.
[17]李洁,史伟,钟彦儒.基于自抗扰控制器的异步电机鲁棒控制研究[J].西安理工大学学报,2008,24(4):431.LI Jie,SHI Wei,ZHONG Yanru.Research on robust control of induction machines based on auto disturbance rejection controller[J].Journal of Xi’an University of Technology,2008,24(4):431.
[18]刘军锋,李叶松,万淑芸.基于自抗扰控制器的感应电机变频调速系统[J].华中科技大学学报,2008,36(6):47.LIU Junfeng,LI Yesong,WAN Shuyun.Induction motor variable-frequency speed regulation system based on auto-disturbances-rejection controller[J].Journal Huazhong University of Science and Technology,2008,36(6):47.
[2]丁树业,关天宇,崔广慧.船舶驱动用异步电机三维温度场研究[J].哈尔滨理工大学报,2015,20(5):1.DING Shuye,GUAN Tianyu,CUI Guanghui.The research on 3Dtemperature field of asynchronous motor for ship drive[J].Journal of Harbin University of Science and Technology,2015,20(5):1.
[3]杜永红,李哲峰,刘志刚.异步电机间接磁场定向控制双闭环系统[J].电工技术学报,2009,24(5):24.DU Yonghong,LI Zhefeng,LIU Zhigang.Indirect field orientation double close loop system of induction motors[J].Transactions of China Electrotechnical Society,2009,24(5):24.
[4]杨淑英,丁大尉,李曦,等.基于反电动势滑模观测器的异步电机矢量控制[J].电机与控制学报,2016,20(10):23.YANG Shuying,DING Dawei,LI Xi,et al.Back-EMF based sliding mode observer for vector control of induction machine[J].Electric Machines and Control,2016,20(10):23.
[5]许叙遥,林辉.基于动态滑模控制的永磁同步电机位置速度一体化设计[J].电工技术学报,2014,29(5):77.XU Xuyao,LIN Hui.Integrated design for permanent magnet synchronous motor servo systems based on dynamic sliding mode control[J].Transactions of China Electrotechnical Society,2014,29(5):77.
[6]ZHANG Xiaoguang,SUN Lizhi,ZHAO Ke,et al.Nonlinear speed control for PMSM system using sliding-model control and disturbance compensation techniques[J].IEEE Transactions on Power Electronics,2013,28(3):1358.
[7]CHIANG HH,HSU K C,LI I H.Optimized adaptive motion control through an SOPC implementation for linear induction motor drives[J].IEEE/ASME Transactions on Mechatronics,2015,20(1):348.
[8]梅从立,殷开婷,黄文涛,等.基于数据驱动的感应电机多模型逆自适应解耦控制[J].控制与决策,2016,31(6):1037.MEI Congli,YIN Kaiting,HUANG Wentao,et al.Data-driven adaptive decoupling control of induction motors using multi-model inversion[J].Control and Decision,2016,31(6):1037.
[9]SCOLTOCK J,GEYER T,MADAWALA U K.A comparison of model predictive control schemes for MV induction motor drives[J].IEEE Transactions on Industrial Informatics,2013,9(2):909.
[10]孙伟,于泳,王高林,等.基于矢量控制的异步电机预测电流控制算法[J].中国电机工程学报,2014,34(21):3448.SUN Wei,YU Yong,WANG Gaolin,et al.A predictive current control scheme for induction motor with vector control[J].Proceedings of the CSEE,2014,34(21):3448.
[11]尹忠刚,牛剑博,钟彦儒.采用免疫算法的感应电机内模控制策略[J].中国电机工程学报,2013,33(24):97.YIN Zhonggang,NIU Jianbo,ZHONG Yanru.Research on an internal model control strategy for induction motors using the immune algorithm[J].Proceedings of the CSEE,2013,33(24):97.
[12]CHOU H W,CHEUNG N C.Disturbance and response time improvement ofsubmicrometer precision linear motion system by using modified disturbance compensator and internal model reference control[J].IEEE Transactions of Industrial Electronics,2013,60(1):139.
[13]白晶,李华德,郝智红.自抗扰控制器ADRC实现的感应电机变频调速系统[J].电工技术学报,2005,20(6):73.BAI Jing,LI Huade,HAO Zhihong.Induction-motor variablefrequency speed regulation system implemented by auto-disturbances-rejection controller[J].Transactions of China Electrotechnical Society,2005,20(6):73.
[14]韩京清.自抗扰控制技术-估计补偿不确定因素的控制技术[M].北京:国防工业出版社,2008.
[15]谢树林,李华德,郝智红,等.自抗扰控制器解决变频调速系统参数鲁棒性问题[J].电工技术学报,2005,20(9):61.XIE Shulin,LI Huade,HAO Zhihong,et al.Parameter robustness in the induction motor variable-frequency speed regulation system implemented by auto-disturbances-rejection controller[J].Transactions of China Electrotechnical Society,2005,20(9):61.
[16]HAN J.From PID toactive disturbance rejection control[J].IEEE Transactions on Industrial Electronics,2009,56(3):900.
[17]李洁,史伟,钟彦儒.基于自抗扰控制器的异步电机鲁棒控制研究[J].西安理工大学学报,2008,24(4):431.LI Jie,SHI Wei,ZHONG Yanru.Research on robust control of induction machines based on auto disturbance rejection controller[J].Journal of Xi’an University of Technology,2008,24(4):431.
[18]刘军锋,李叶松,万淑芸.基于自抗扰控制器的感应电机变频调速系统[J].华中科技大学学报,2008,36(6):47.LIU Junfeng,LI Yesong,WAN Shuyun.Induction motor variable-frequency speed regulation system based on auto-disturbances-rejection controller[J].Journal Huazhong University of Science and Technology,2008,36(6):47.