基于扩张状态观测器的电机模型预测鲁棒控制  

Model predictive robust control for motor based on extended state observer

作　　者：刘洋[1] 孔国利 LIU Yang;KONG Guoli(School of Information Engineering,Henan Mechanical and Electrical Vocational College,Zhengzhou 450001,CHN;School of Information Engineering,Zhengzhou Institute of Technology,Zhengzhou 450044,CHN)

机构地区：[1]河南机电职业学院信息工程学院,河南郑州450001 [2]郑州工程技术学院信息工程学院,河南郑州450044

出　　处：《制造技术与机床》2021年第12期135-140,共6页Manufacturing Technology & Machine Tool

基　　金：国家自然科学基金项目(61931019);河南省科技攻关项目(182102210150)。

摘　　要：为了有效补偿阻尼摄动、未知负载以及电磁干扰对永磁同步电机的影响,并提高电机的控制精度,提出了一种基于扩张状态观测器的模型预测鲁棒控制方法。首先建立了带有阻尼摄动、未知负载以及电磁干扰等复合干扰的永磁同步电机模型,然后设计了扩张状态观测器来准确估计复合干扰,并引入复合干扰估计结果来改进传统模型预测控制的鲁棒性,最后提出了预测输出和代价函数,通过滚动优化后得到改进模型预测控制律,实现了对永磁同步电机的鲁棒控制。仿真结果表明:设计的扩张状态观测器能够快速准确估计出复合干扰,最大估计误差仅为0.2 r/min 2,且改进的模型预测控制方法能够准确跟踪指令信号,转速和加速度最大误差分别为0.3 r/min和0.3 r/min 2,在测试实验中的转速最大误差仅为0.5 r/min,可有效消除永磁同步电机的各种干扰的影响,从而大幅改善了对工件的加工精度。To effectively compensate the influence of damping perturbation,unknown load and electromagnetic interference on the permanent magnet synchronous machine,and improve the control accuracy of the motor,a control method based on improved model prediction was proposed.Firstly,the permanent magnet synchronous machine model with complex disturbances such as damping perturbation,unknown load and electromagnetic interference was established.Then,the extended state observer was designed to accurately estimate the complex disturbances,and the results of complex disturbance estimation were introduced to improve the robustness of the traditional model predictive control.Finally,the predictive output and cost function were proposed,and the improved model prediction control law was obtained by rolling optimization,which realized the robust control for the permanent magnet synchronous machine.The simulation results show that the designed extended state observer can quickly and accurately estimate the complex disturbance,the maximum estimation error range is 0.2 r/min 2,and the improved model predictive control method can accurately track the command signal,the maximum rotational speed and acceleration error are 0.3 r/min and 0.3 r/min 2 respectively.In the actual test,the speed tracking error is only 0.5 r/min,which can effectively eliminate the influence of all kinds of interference in the permanent magnet synchronous machine,so as to greatly improve the machining accuracy of the work piece.

关 键 词：永磁同步电机 复合干扰 扩张状态观测器 改进模型预测控制 鲁棒控制 

分 类 号：TM71[电气工程—电力系统及自动化]