基于全部参数自适应Smith预估补偿的永磁同步电机滑模前馈控制及扰动抑制

doi:10.12382/bgxb.2022.0624

摘要/Abstract

摘要：

在永磁同步电机控制系统中,逆变器的延迟效应会降低系统的跟踪性能和稳定裕度。引入Smith预估补偿器可以补偿延迟环节对系统性能的影响,但Smith预估补偿器要求延迟时间和被控对象模型参数已知,这不符合实际情况。为此提出时变模型自适应预估方法,分别对延迟时间和被控对象模型参数进行自适应估计,实现Smith预估补偿器的全参数自适应。设计基于位置输出超前值预测和扰动抑制的滑模前馈控制器,与全参数自适应Smith预估补偿控制相结合,确保控制系统的全局稳定,降低系统对参数不确定的敏感性,并提高系统的抗扰性。仿真结果表明,与传统及多种改进的Smith预估补偿方法相比,该方法有着更高的跟踪精度,即使在非理想条件下,对参数不确定依然具有较强的鲁棒性,对随机扰动依然具有较强的干扰抑制能力。

关键词: 永磁同步电机, Smith预估补偿, 全参数自适应估计, 位置输出超前值预测, 滑模前馈控制

Abstract:

In the control system of permanent magnet synchronous motor (PMSM), the delay effect of inverter has an affect on the stability of control system. Smith predictor compensator can be introduced to compensate the influence of delay link on system performace, but it is usually under the ideal assumption that the delay time and the model parameters of the plant are known and accurate, which is not in line with the actual situation. A time-varying model-based adaptive method is proposed to adaptively estimate the delay time and the model parameters of the plant, respectively, so as to realize the full parameters adaptation of Smith predictor compensator. In order to ensure the global stability of control system, reduce the sensitivity of system to parameter uncertainty and improvthe disturbance suppression, a sliding mode feedforward controller based on the advanced value prediction of position output and the sliding mode feedforward controller of disturbance suppression is designed, which is combined with the full parameter adaptive Smith predictive compensation control. Simulated results show that, compared with traditional and many improved Smith prediction compensation methods, the proposed method has high stability and tracking accuracy, and is still robust to parameter uncertainty and random disturbance even under non-ideal conditions.

Key words: permanent magnet synchronous motor, Smith predictor compensation, full parameters adaptive estimation, leading value prediction of position output, sliding mode feedforward control

中图分类号:

TP13

朱其新, 王嘉祺, 朱永红. 基于全部参数自适应Smith预估补偿的永磁同步电机滑模前馈控制及扰动抑制[J]. 兵工学报, 2024, 45(2): 417-428.

ZHU Qixin, WANG Jiaqi, ZHU Yonghong. Sliding Mode Feedforward Control and Disturbance Suppression for PMSM Based on Full Parameters Adaptive Smith Predictor Compensation[J]. Acta Armamentarii, 2024, 45(2): 417-428.

图/表 24

图1 PMSM简化数学模型结构框图

Fig.1 Structure block diagram of PMSM simplified mathematical model

图2 理想Smith预估补偿结构原理图

Fig.2 Schematic diagram of ideal Smith predictive compensation structure

图3 延迟时间估计结构原理图

Fig.3 Schematic diagram of delay time estimation structure

图4 延迟时间估计曲线

Fig.4 Delay time estimation curve

图5 被控对象模型参数估计结构原理

Fig.5 Structural schematic diagram of model parameter estimation of controlled object

图6 全参数自适应Smith预估补偿结构原理图

Fig.6 Schematic diagram of full parameters adaptive Smith predictive compensation structure

图7 预测位置超前值与实际位置输出对比

Fig.7 Comparison between predicted position advanced value and actual position output

图8 补偿前后位置超前值预测效果对比

Fig.8 Comparison of predicted effects of position advanced values before and after compensation

图9 多次补偿后位置超前值预测误差对比

Fig.9 Comparison of predicted errors of position advanced values after multiple compensation

图10 FPASPC+SMFC结构原理图

Fig.10 Schematic diagram of FPASPC+SMFC structure

表1 模型参数及控制器参数表

Table 1 Model and controller parameters

参数	数值	参数	数值
L/H	0.01869	R/Ω	4.78
J/(kg·m²)	0.57	B/(N·s·m^-1)	0.0065
K_t/(N·m·A^-1)	1.6	K_e(V·s·m^-1)	1.6
τ/s	0.02	K_p	30
k_τ	500	k_ω	100
μ₁	100	μ₂	350
c	5	k	5
d₀方差	50	D	50

图11 模型参数K估计效果图

Fig.11 Estimated effect diagram of model parameter K

图12 模型参数α估计效果图

Fig.12 Estimated effect diagram of model parameter α

图13 位置超前值预测效果图

Fig.13 Predicted effect diagram of position advanced value

图14 FPASPC+SMFC与TSPC位置响应对比

Fig.14 Comparison of position responses of FPASPC+SMFC and TSPC

图15 FPASPC+SMFC与TSPC位置响应误差对比

Fig.15 Fig.15 Comparison of position response errors of FPASPC+SMFC and TSPC

图16 FPASPC+SMFC与TSPC+DFRA位置响应对比

Fig.16 Comparison of position responses of FPASPC+SMFC and TSPC+DFRA

图17 FPASPC+SMFC与TSPC+DFRA位置响应误差对比

Fig.17 Comparison of position response errors of FPASPC+SMFC and TSPC+DFRA

图18 FPASPC+SMFC与TSPC+MRAC位置响应对比

Fig.18 Comparison of position responses of FPASPC+SMFC and TSPC+MRAC

图19 FPASPC+SMFC与TSPC+MRAC位置响应误差对比

Fig.19 Comparison of position response errors of FPASPC+SMFC and TSPC+MRAC

图20 FPASPC+SMFC与ISPC+ADC位置响应对比

Fig.20 Comparison of position responses of FPASPC+SMFC and ISPC+ADC

图21 FPASPC+SMFC与ISPC+ADC位置响应误差对比

Fig.21 Comparison of position response errors of FPASPC+SMFC and ISPC+ADC

图22 FPASPC+SMFC与ASPTDCC位置响应对比

Fig.22 Comparison of position responses of FPASPC+SMFC and ASPTDCC

图23 FPASPC+SMFC与ASPTDCC位置响应误差对比

Fig.23 Comparison of position response error between FPASPC+SMFC and ASPTDCC

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