基于滑模观测器的交流异步电机预设性能位置跟踪控制  

Sliding Mode Observer-based Prescribed Performance Position Tracking Control of Alternating Current Asynchronous Motor

作　　者：刘乐 高杰[1] 刘鹏[1] 方一鸣 LIU Le;GAO Jie;LIU Peng;FANG Yiming(Engineering Research Center of Intelligent Control System and Intelligent Equipment of Ministry of Education(Yanshan University),Qinhuangdao 066004,Hebei Province,China)

机构地区：[1]智能控制系统与智能装备教育部工程研究中心(燕山大学),河北省秦皇岛市066004

出　　处：《中国电机工程学报》2022年第9期3432-3442,共11页Proceedings of the CSEE

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

摘　　要：针对存在匹配/非匹配扰动的交流异步电机位置跟踪控制问题,提出一种基于滑模观测器(sliding mode observer,SMO)的预设性能控制方法。首先,设计一种基于改进指数趋近律的SMO,削弱了常规滑模观测器存在的抖振现象,实现了对电机转子磁链准确的观测估计;其次,将模糊自适应方法与约束处理策略相结合,分别完成交流异步电机位置和磁链预设性能控制器的设计,保证了系统预先设定的瞬态和稳态性能,实现了对系统给定值有效的跟踪控制;再次,采用改进的粒子群优化(improved particle swarm optimization,IPSO)算法对控制器参数进行优化设计,有效地提高了系统的收敛速度和稳态精度。理论分析表明,系统的位置跟踪误差和磁链跟踪误差不会超过预定的边界,且闭环系统的所有状态都是有界的。最后,通过仿真和模拟实验对比研究,验证了该文所提方法的有效性和可行性。For the position tracking control problem of alternating current(AC)asynchronous motor with matched/unmatched disturbances,a sliding mode observer(SMO)-based prescribed performance control method was proposed in this paper.Firstly,a new improved exponential reaching law-based SMO was designed,which weakened the chattering phenomenon existing in conventional sliding mode observer and realized the accurate observation of the motor rotor flux.Secondly,the AC asynchronous motor position and flux prescribed performance controllers were designed by combining the fuzzy adaptive method with a constraint handling strategy,which guaranteed the preassigned transient and steady-state performances and realized effective tracking controls for the system given values.Thirdly,an improved particle swarm optimization(IPSO)algorithm was adopted to optimize the parameters of the controllers,which effectively improved the convergence rate and steady-state accuracy of the system.The theoretical analysis showed that the position tracking error and the flux tracking error of the system wouldn’t exceed the predefined boundaries,and all states of the closed-loop system were bounded.Finally,the effectiveness and feasibility of the proposed control method were verified by the comparative researches of simulation and simulated experiment.

关 键 词：交流异步电机 滑模观测器 模糊自适应控制 约束处理策略 预设性能控制 改进的粒子群优化算法 

分 类 号：TM343[电气工程—电机]