基于灰狼优化的永磁同步电机自适应反推鲁棒控制策略  

Adaptive backstepping robust control strategy of PMSM based on grey wolf optimization

作　　者：俞沛宙 王澍 杨继辉 张宇华 薛花 黄珂 YU Peizhou;WANG Shu;YANG Jihui;ZHANG Yuhua;XUE Hua;HUANG Ke(State Grid Zhejiang Ningbo Yinzhou District Power Supply Co.,Ltd.,Ningbo 315100,China;Innovation and Entrepreneurship Center of State Grid Zhejiang Electric Power Co.,Ltd.,Hangzhou 310051,China;School of Electrical Engineering,Shanghai University of Electric Power,Shanghai 200090,China)

机构地区：[1]国网浙江宁波市鄞州区供电有限公司,浙江宁波315100 [2]国网浙江省电力有限公司双创中心,浙江杭州310051 [3]上海电力大学电气工程学院,上海200090

出　　处：《电力系统保护与控制》2021年第2期39-46,共8页Power System Protection and Control

基　　金：上海市科技创新行动计划(19DZ2204700);浙江省电力公司双创孵化培育基金项目。

摘　　要：针对永磁同步电机存在非线性项的不确定性,以及在运行过程中参数摄动与负载扰动对机械角频率、转速以及系统控制产生的影响,为适应高精度、高稳定的调速应用要求,提出一种基于灰狼优化的永磁同步电机自适应反推鲁棒控制策略。应用非线性反推控制解决电机的非线性问题,并将灰狼优化应用于自适应反推算法中,实现电机转速对期望值的自适应调节跟踪,从而获得较好的动态响应及鲁棒性。首先,建立包含参数摄动以及输出侧负荷扰动的永磁同步电机数学模型,设计出满足李雅普诺夫稳定的反推控制器。其次,用灰狼算法对反推控制器参数进行优化,进一步提高系统的稳定性和鲁棒性。仿真结果验证了该控制器具有良好的速度跟踪与抗干扰调节效果,表明了该方法的有效性。There is uncertainty of the nonlinear term in a permanent magnet synchronous motor,as well as of the influence of parameter perturbation and load disturbance on mechanical angular frequency,rotational speed and system control during operation.To meet the requirements of high precision and high stability speed regulation application,an adaptive backstepping robust control strategy of PMSM based on grey wolf optimization is proposed.The nonlinear backstepping control is applied to solve the nonlinear problem of the motor,and grey wolf optimization is applied to the adaptive backstepping algorithm to realize the adaptive adjustment and tracking of the motor speed to the expected value,thus obtaining better dynamic response and robustness.A mathematical model of a permanent magnet synchronous motor including parameter perturbation and output side load perturbation is established.Then a backstepping controller satisfying Lyapunov stability is designed.Then the parameters of the backstepping controller are optimized by grey wolf algorithm to further improve the stability and robustness of the system.The simulation results verify the controller's good speed tracking and anti-interference adjustment effects and the effectiveness of the method.

关 键 词：永磁同步电机(PMSM) 自适应反推控制 李雅普诺夫 灰狼优化 鲁棒性 

分 类 号：TM341[电气工程—电机]