基于比例谐振内模扩张状态观测器的PMLSM推力波动抑制策略  

Proportional Resonant Internal Model Extended State Observer Based Thrust Ripple Suppression Strategy of PMLSM Drives

作　　者：张国强[1] 赵新茹 张恒 王高林[1] 徐殿国[1] Zhang Gouqiang;Zhao Xinru;Zhang Heng;Wang Gaolin;Xu Dianguo(School of Electrical Engineering and Automation Harbin Institute of Technology,Harbin 150001 China)

机构地区：[1]哈尔滨工业大学电气工程及自动化学院,哈尔滨150001

出　　处：《电工技术学报》2024年第8期2449-2458,共10页Transactions of China Electrotechnical Society

摘　　要：定位力是永磁同步直线电机(PMLSM)产生推力波动的主要原因,导致振动和噪声,恶化驱动系统运行性能。针对这一问题,该文提出一种基于比例谐振内模扩张状态观测器(PR-IMESO)的PMLSM推力波动抑制策略以提高系统控制精度和运行性能。首先,对PMLSM推力波动进行建模与分析,针对推力波动中占比较大的定位力分量,根据内模原理研究考虑定位力模型的内模扩张状态观测器(IMESO),并在观测器中引入谐振项以加强对二次脉动定位力的抑制。所提出抑制策略对PMLSM定位力具有良好的观测及补偿能力,还可对其余未建模的复杂动子推力波动进行抑制,具有较好的推力波动整体抑制效果。最后,在一台750 W的PMLSM实验平台上验证所提出抑制策略的有效性。Permanent magnet synchronous linear motor(PMLSM)has excellent control accuracy and response speed.It is widely applied in automatic control systems,automatic precision machine tools,and other occasions.However,due to its structure,PMLSM has thrust ripples,which can cause vibration and noise,greatly affecting the control accuracy of the motor drive at low speeds.The detent force is the main cause of thrust ripples,containing end and cogging forces.This paper proposes a thrust ripple suppression strategy based on the proportional resonant internal model extended state observer(PR-IMESO)to improve system performance and control accuracy.Firstly,thrust ripples are modeled and analyzed,and cogging force and end force models are established.Then,the detent force model,a function of mover position with motor pole distanceτas the period,is obtained.Its frequency is twice the frequency of the primary winding phase current.Aiming at the large detent force in thrust ripples,the internal model expanded state observer is studied,considering the detent force model to compensate for the detent force and other unmodeled thrust ripples in real-time.In addition,a resonant term is introduced into the observer to enhance the compensation ability of the fixed frequency detent force.The observer is designed according to the motion equation of PMLSM considering various thrust disturbances, and parameters are adjusted by the observer bandwidth. Finally, simulation and experiment are carried out. Set the motor running speed to 0.06 m/s and load tension to 10 N. According to the simulation results, the amplitude of velocity fluctuation with the PR-IMESO suppression strategy attenuates to 3.4% of the amplitude of velocity fluctuation, and the suppression rate is 96.6%. It is theoretically verified that the proposed strategy has a significant suppression effect on the detent force with a secondary fluctuation frequency. Further, the experiment is carried out with a 750 W PMLSM experimental platform. The PMLSM thrust ripple suppression stra

关 键 词：永磁同步直线电机 定位力 比例谐振内模扩张状态观测器 推力波动抑制 

分 类 号：TM341[电气工程—电机]