基于状态约束的永磁同步电机的优化控制算法  

Control algorithm optimization of permanent magnet synchronous motor based on state constraints

作　　者：王琨[1,2,3] 骆敏舟[2] 李可[1,3] 曹毅[1,3] 张秋菊[1,3] 

机构地区：[1]江南大学江苏省食品先进制造装备技术重点实验室,江苏无锡214122 [2]中国科学技术大学信息科学技术学院,安徽合肥230027 [3]江南大学机械工程学院,江苏无锡214122

出　　处：《电机与控制学报》2015年第2期33-38,共6页Electric Machines and Control

基　　金：国家自然科学基金(50905176);中央高校基本科研业务费专项资金资助(JUSRP11456);江苏省食品先进制造装备技术重点实验室开放课题资助项目(FM-2014-05)

摘　　要：针对永磁同步电机位置伺服控制采用的基本反推法存在状态量与控制量无法同时满足饱和约束的问题展开研究。基于永磁同步电机的非线性模型的相关度为三,且可描述成级联形式,研究人员提出运用基本反推法进行基本控制律的设计,但是基本反推法仅考虑控制量饱和约束条件而无法保证状态量在期望的范围内,且其引入的虚拟控制律的微分会导致计算量膨胀。针对这两个问题,首次提出在非线性控制模型中引入命令滤波器的算法,对算法进行数学推导,并通过虚拟仿真验证了算法的有效性。仿真结果表明,与基本反推法相比,提出的控制方案有较优的位置收敛速度和平稳性,能够保证控制量和状态量均在合理的区间内,而且显著地减少运算时间。A concept of innovative control law was presented to meet the states and input constraints induced by the backstepping control approach of permanent magnet synchronous motor.Since the relativity of the permanent magnet synchronous motor system is three and the nonlinear model can be described as the cascaded former,a backstepping approach was proposed to design the basic control law.However,the nonlinear of the system results in state variables being out of the desired boundary when the saturation of input is emphatically considered.Moreover,this method leads to the expansion of calculation since the differentiation of virtual control law.With the purpose of solving these two problems,the command filter was firstly proposed to build the nonlinear control model,which is used for balancing the state and input constraints,and simultaneously eliminating the calculation expansion.Then a strict mathematical proof was given and simulations were subsequently provided.Finally,the numerical examples were presented to verify the effectiveness of the proposed control law and the improved performance of the system.

关 键 词：永磁同步电机 位置控制 状态受限 反推法 命令滤波器 

分 类 号：TM351[电气工程—电机]