基于能量函数的永磁同步电机无速度传感器H∞控制

摘要/Abstract

摘要：

研究了基于能量函数的永磁同步电机无速度传感器H_∞控制问题。为有效控制电机转速，首先对无扰动条件下的永磁同步电机哈密顿模型进行整形，使转速达到期望值。然后，在存在扰动的条件下，设计了一种基于哈密顿函数的H_∞控制器。最后，采用基于哈密顿函数的扩张+反馈方法设计了一种观测器，对转子角速度进行测量，实现了无速度传感器整形+H_∞控制。仿真结果表明，基于观测器的整形+H_∞控制器能实现对角速度的高精度估计，可有效克服扰动，并较好地实现了对电机转速的控制功能。

关键词: 能量函数, 永磁同步电机, 无速度传感器, H_∞控制

Abstract:

The speed sensorless H∞ control method for PMSM was researched based on the energy function. In order to control the speed of motor rotator effectively, firstly the Hamilton model of the PMSM was shaped when there was not disturbances, and the rotator speed might reach the expected value. When there were disturbances, a H_∞ controller was designed based on the Hamilton function. An observer was designed using the method of expansion plus feedback based on the Hamilton function and used to measure the angular speed of rotator, and the speed sensorless shape plus H∞ control were achieved. The simulation results show that the shape plus H_∞ control based on the observer can estimate the angular speed accurately, and restrain the disturbances of system, and control the rotator speed effectively.

Key words: energy function, permanent magnet synchronous motor(PMSM), speed sensorless, H_∞ control

中图分类号:

TM341
TH73

吴忠强, 吴昌韩, 贾文静, 赵立儒. 基于能量函数的永磁同步电机无速度传感器H_∞控制[J]. 中国机械工程, 2016, 27(05): 583-588.

Wu Zhongqiang, Wu Changhan, Jia Wenjing, Zhao Liru. Speed Sensorless H_∞ Control for PMSM Based on Energy Function[J]. China Mechanical Engineering, 2016, 27(05): 583-588.

参考文献

[1]Krishnan R, Bharadwaj A S. A Review of Parameter Sensitivity and Adaptation in Indirect Vector Controlled Induction Motor Drive Systems[J]. IEEE Transactions on Power Electronics, 1991, 6(4): 695-703.

[2]张兴,郭磊磊,杨淑英,等.永磁同步发电机无速度传感器控制[J].中国电机工程学报, 2014, 34 (21): 3440-3447.

Zhang Xing, Guo Leilei, Yang Shuying, et al. Speed Sensorless Control of Permanent Magnet Synchronous Generators[J]. Proceedings of the CSEE, 2014, 34(21): 3440-3447.

[3]卫志农,俞小勇,吴佳佳.基于自抗扰控制的双馈发电机无速度传感器控制[J].电力自动化设备, 2011, 31 (1): 15-18.

Wei Zhinong, Yu Xiaoyong, Wu Jiajia. Speed Sensorless Control of DFIG Based on ADRC[J]. Electric Power Automation Equipment, 2011, 31(1): 15-18.

[4]王礼鹏,张化光,刘秀翀.低速PMSM无速度传感器调速系统积分滑模控制[J].电机与控制学报, 2012, 16(2): 19-31. Wang Lipeng, Zhang Huaguang, Liu Xiuchong. Sensorless of Integral Sliding Mode Controlled PMSM at Low Speeds[J]. Electric Machines and Control, 2012, 16(2): 19-31.

[5]许波,朱熀秋,姬伟,等.改进型平方根无迹卡尔曼滤波及其在无轴承永磁同步电机无速度传感器运行中的应用[J].控制理论与应用, 2012, 29(1): 53-58.

Xu Bo, Zhu Huangqiu, Ji Wei, et al. Modified Square-root Unscented Kalman Filter and Its Application to Speed Sensorless Control of Bearingless Permanent Magnet Synchronous Motor[J]. Control Theory & Applications, 2012, 29(1): 53-58.

[6]王礼鹏, 张化光, 刘秀翀. 永磁同步电动机无速度传感器矢量调速系统的积分反步控制[J]. 控制理论与应用, 2012, 29(2): 199-204.

Wang Lipeng, Zhang Huaguang, Liu Xiuchong. Integral Backstepping Controller in the Sensorless Vector-control System for Permanent Magnet Synchronous Motor[J]. Control Theory & Applications, 2012, 29(2): 199-204.

[7]黄庆,黄守道,匡江传,等.基于模糊自抗扰的PMSM无速度传感器控制[J]. 湖南大学学报(自然科学版), 2012, 39(7): 37-43.

Huang Qing, Huang Shoudao, Kuang Jiangchuan, et al. PMSM Sensorless Control Based on Fuzzy Active-disturbance Rejection[J]. Journal of Hunan University(Natural Sciences), 2012, 39(7): 37-43.

[8]Hongryel K, Jubum S, Jangmyung L. A High-Speed Sliding-mode Observer for the Sensorless Speed Control of a PMSM[J]. IEEE Transactions on Industrial Electronics, 2011, 58(9): 4069-4077.

[9]Sun X D, Chen L, Yang Z B, et al. Speed-sensorless Vector Control of a Bearingless Induction Motor with Artificial Neural Network Inverse Speed Observer[J]. IEEE/ASME Transactions on Mechatronics, 2013, 18(4): 1357-1366.

[10]曾云,张立翔,于凤荣,等.电机实用参数描述的发电机哈密顿模型[J].中国电机工程学报, 2009, 29(27): 54-58.

Zeng Yun, Zhang Lixiang, Yu Fengrong, et al. Hamiltonian Model of Generator Described with Practical Parameters[J]. Proceedings of the CSEE, 2009, 29(27): 54-58.

[11]侯利民, 王巍. 无速度传感器的表面式永磁同步电机无源控制策略[J].控制与决策, 2013, 28(10): 1578-1586.

Hou Limin, Wang Wei. Speed Sensorless System of Passivity-based Control Strategy for SPMSM[J]. Control and Decision, 2013, 28(10): 1578-1586.

[12]任丽娜,刘福才,焦晓红,等.基于Hamilton模型的永磁同步风力发电系统中混沌运动的H_∞控制[J]. 物理学报, 2012, 61(6): 77-82.

Ren Lina, Liu Fucai, Jiao Xiaohong, et al. Hamiltonian Model-based H_∞ Control of Chaos Impermanent Magnet Synchronous Generators for Wind Power System[J]. Acta Phys. Sin., 2012, 61(6): 77-82.

[13]孙静,张承慧,裴文卉,等.考虑铁损的电动汽车用永磁同步电机Hamilton镇定控制[J].控制与决策, 2012, 27(12): 1899-1906.

Sun Jing, Zhang Chenghui, Pei Wenhui, et al. Hamiltonian Stabilizing Control of Permanent Magnet Synchronous Motor Considering Iron Loss for Electric Vehicle[J]. Control and Decision, 2012, 27(12): 1899-1906.

[14]梅生伟,申铁龙,刘志康.现代鲁棒控制理论与应用[M].北京: 清华大学出版社, 2008.

[1]	王荣林1;陆宝春1;侯润民1;高强1 ;张唯2;朱云3; 戴炼3. 交流伺服系统分数阶PID改进型自抗扰控制[J]. 中国机械工程, 2019, 30(16): 1989-1995.
[2]	宋守许1，2;杜毅1，2;许可1，2. 定子铁心混合叠压再制造电机的齿槽转矩分析[J]. 中国机械工程, 2018, 29(19): 2364-2370.
[3]	赵林峰1;陈久闪2;陈无畏1;张荣芸3. 基于转角的迭代学习控制策略下永磁同步电机EPS转矩脉动抑制方法[J]. 中国机械工程, 2017, 28(24): 2906-2913.
[4]	陆浩, 胡建华, 王云宽, 郑军, 秦晓飞. 基于自适应微分跟踪器的位置伺服系统[J]. 中国机械工程, 2016, 27(21): 2915-2919.
[5]	宋守许, 谭浩, 王战春, 王淑旺. 非晶合金定子铁心对再制造电机性能的影响[J]. 中国机械工程, 2016, 27(16): 2179-2185.
[6]	黄科元, 蒋智, 黄守道, 杨卫星. 一种改进的永磁同步主轴电机速度估算方法[J]. 中国机械工程, 2016, 27(07): 893-898,938.
[7]	邓建国, 蔡亚辉, 黄守道, 李亚雄. 压缩机用永磁同步电机无传感器全速度运行策略研究[J]. 中国机械工程, 2016, 27(06): 767-771,777.
[8]	张鹏, 王文格, 付霞, 聂挺. 基于闭环自适应辨识的速度环PI参数自整定[J]. 中国机械工程, 2016, 27(05): 639-645.
[9]	刘蕾, 刘光复, 刘马林, 朱标龙. 车用永磁同步电机三维温度场分析[J]. 中国机械工程, 2015, 26(11): 1438-1444.
[10]	许波, 朱熀秋, 姬伟. 无轴承永磁同步电机转子速度自检测复合方法研究[J]. 中国机械工程, 2013, 24(14): 1927-1932.
[11]	贾永峰1, 2, 谷立臣1. 永磁同步电机驱动的液压动力系统设计与实验分析 [J]. 中国机械工程, 2012, 23(3): 286-290.
[12]	孙晓东, 朱熀秋, 杨泽斌. 无轴承永磁同步电机技术综述及其发展趋势探讨[J]. 中国机械工程, 2012, 23(17): 2128-2135.
[13]	程博1, 2, 叶敏1, 2, 李雪1, 曹秉刚2. 基于模糊矢量及弱磁扩速机理的电动汽车控制研究[J]. 中国机械工程, 2012, 23(15): 1884-1889.
[14]	刘清, 王太勇, 董靖川, 刘清建, 李勃. 基于ESO及NTD的PMSM无机械传感器位置控制[J]. 中国机械工程, 2012, 23(10): 1212-1215.
[15]	吴健瑜, 罗玉涛, 黄向东. 电磁耦合无级变速器温度场分析与冷却方法研究 [J]. 中国机械工程, 2011, 22(8): 887-891.