基于浸入与不变理论的交流异步电机自适应位置跟踪控制  

Immersion and Invariance Theory-Based Adaptive Position Tracking Control for Alternating Current Asynchronous Motor

作　　者：刘乐[1,2] 高杰[1,2] 强嘉萍 丁素艳 Liu Le;Gao Jie;Qiang Jiaping;Ding Suyan(Engineering Research Center of the Ministry of Education for Intelligent Control System and Intelligent Equipment,Yanshan University,Qinhuangdao 066004,China;Key Laboratory of Industrial Computer Control Engineering of Hebei Province,Yanshan University,Qinhuangdao 066004,China)

机构地区：[1]燕山大学智能控制系统与智能装备教育部工程研究中心,秦皇岛066004 [2]燕山大学工业计算机控制工程河北省重点实验室,秦皇岛066004

出　　处：《电工技术学报》2021年第12期2594-2606,共13页Transactions of China Electrotechnical Society

基　　金：国家自然科学基金(61803327,61873226);河北省自然科学基金(F2020203018,F2019203090)资助项目。

摘　　要：为了提高交流异步电机在参数摄动和负载扰动下的位置跟踪控制性能,该文提出一种基于浸入与不变(I&I)理论的自适应控制方法。首先,通过构造非线性扩张状态观测器(NLESO)对系统的负载扰动进行动态观测,提高系统的跟踪控制精度;其次,基于I&I理论对系统的摄动参数设计自适应估计器,实现参数估计值渐近收敛到真实值;再次,基于I&I理论分别完成交流异步电机位置和磁链跟踪控制器的设计,实现对系统给定值的精确跟踪控制;最后,将该文所提方法与动态面控制(DSC)方法和I&I控制方法进行仿真及实验对比研究,结果验证了该文所提方法的有效性和可行性。In order to improve the position tracking control performance of alternating current(AC)asynchronous motor under parameter perturbation and load disturbance,an immersion and invariance(I&I)theory-based adaptive control method was proposed in this paper.Firstly,a nonlinear extended state observer(NLESO)was constructed to dynamically observe the load disturbance,which improved the tracking control accuracy of the system.Secondly,the I&I theory-based adaptive estimator was designed for the system perturbation parameter,and the parameter estimate was converged to the true value asymptotically.Thirdly,the position and flux tracking controllers of the AC asynchronous motor were designed respectively based on the I&I theory,which realized precise tracking control for the system given values.Finally,the proposed control method was compared with the dynamic surface control(DSC)method and the I&I control method by simulation and experiment.The results verify the effectiveness and feasibility of the proposed control method.

关 键 词：交流异步电机 自适应位置跟踪控制 浸入与不变理论 非线性扩张状态观测器 

分 类 号：TM343.2[电气工程—电机]