Abstract
The classical feedback control method for the permanent-magnet synchronous motor cannot fulfill the dynamic requirement and anti-interference requirement at the same time. In this paper, an adaptive inverse control method with disturbance elimination is proposed based on the vector control including speed and current loops. It avoids the system instability and the anti-disturbance performance of the system can be enhanced as well. Firstly, the speed loop adopts the adaptive inverse controller possessing a feed forward control structure, and a normalized least-mean square filtering algorithm accelerates the speed error convergence. The inverse model of the approximately linearized system is obtained by modifying the weighting factor online. Secondly, in order to suppress and eliminate the influence of motor parameter perturbation and external disturbance on the control system, an extended state observer is designed to observe and compensate the disturbance of the system. Thus, the dynamic performance and anti-disturbance performance of the system can be improved simultaneously. Finally, the effectiveness of the proposed method is verified by experiment and simulation.
Highlights
[5] 王厚浩, 唐德佳, 陈辉,等. 基于自适应逆的旋转弹电动舵机控制[ C] ∥第 36 届中国控制会议论文集, 大连, 2017: 3458⁃3462 WANG Houhao, TANG Dejia, CHEN Hui, et al Control of Electric Actuator for Spinning Missile Based on Adaptive Inverse [ C] ∥Proceedings of the 36th Chinese Control Conference
An adaptive inverse control method with disturbance elimination is proposed based on the vector control including speed and current loops
The inverse model of the approximately lin⁃ earized system is obtained by modifying the weighting factor online
Summary
本文为了提高系统的动态性和抗扰性,设计了 一种基于自适应逆控制的永磁同步电机调速系统。 转速环采用自适应逆控制器, 通过基于归一化的 LMS 自适应滤波算法,在线调节控制器权值来估计 被控对象的逆模型,保证转速跟踪快速收敛。 同时, 通过 构建扩张状态观测器 ( extend state observer, ESO) 进行在线观测扰动误差,并进行实时补偿,相 比其他的自适应逆扰动消除方法,该方法可以减小 控制系统的复杂度,同时降低在线运算量。 式中, TL 为负载转矩,J 为转动惯量,B 为黏滞摩擦 因数,ωr 为机械角速度。 假设反馈电流完全跟随给 定电流,并且忽略负载转矩,则(3) 式可化简为 E = ω ∗r ( k) - ω r( k) 。 此时,归一化 LMS 的权值迭代 公式可表示为 图 5 为不同给定转速下的速度响应曲线,在 3 s 时刻给定转速 5 rad / s,其他时刻分别给定转速 50, 30,10 rad / s。 从图中可以看到,加入 ESO 的自适应 逆控制方法在调速过程中具有更短的上升时间。
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