基于状态变换的测井车永磁同步电机梯度下降法控制  

Gradient Descent Control of Permanent Magnet Synchromotor for Legging Truck Based on State Transformation

作　　者：李炳林 蔡军陈 张志伟 杨双业 樊勇利 Li Binglin;Cai Junchen;Zhang Zhiwei;Yang Shuangye;Fan Yongli(School of Mechanical Engineering,Southwest Petroleum University;CNPC Baoji Oilfield Machinery Co.,Ltd.;CNPC National Petroleum Drilling Equipment Engineering Technology Research Center Company Limited)

机构地区：[1]西南石油大学机电工程学院,成都市新都区610500 [2]宝鸡石油机械有限责任公司 [3]中油国家油气钻井装备工程技术研究中心有限公司

出　　处：《石油机械》2024年第6期51-57,129,共8页China Petroleum Machinery

基　　金：国家油气钻井装备工程技术研究中心开放项目“电驱动测井车的智能控制技术研究”(2104A58912)。

摘　　要：测井车在石油勘探过程中起到了至关重要的作用,其中的永磁同步电机是控制测井设备的关键部件。提出一种针对测井车中永磁同步电机的鲁棒控制策略,这种策略基于状态变换技术,通过采用正切函数变换,将永磁同步电机的输出有效地限制在所需的范围内。基于此变换,构建了全新的永磁同步电机动力学模型,并利用模糊集理论处理系统中的参数不确定性。为进一步提高系统性能,采用求解Riccati方程的方式设计控制器,并成功地实现了对永磁同步电机的精确位置控制。在整个控制策略中,引入代价函数,并在其中加入一个正则化项。对代价函数进行优化,采用梯度下降法来调整控制参数,以提高系统的性能指标并降低控制成本。试验结果表明,与目前最常用的控制策略相比,本研究方法在实现高性能、稳定性、可靠性的同时,降低了控制成本,可应用于电驱动装置。Logging truck plays a crucial role in petroleum exploration,and the permanent magnet synchromotor (PMSM) is a key component in controlling logging device.In the paper,a robust control strategy for PMSM in logging truck was proposed,which,based on state transformation technology,by means of adopting tangent function transformation,effectively limits the output of PMSM within the required range.Moreover,based on this transformation,a new PMSM dynamic model was built,and the fuzzy set theory was used to deal with parameter uncertainty in the system.In order to further improve the system performance,a mode of solving Riccati equation was used to design a controller,and accurate position control of PMSM was successfully realized.In the entire control strategy,a cost function was introduced,and a regularization term was added.The cost function was optimized,and the gradient descent method was used to adjust control parameters to improve system performance indicators and reduce control costs.The test results show that compared with the most commonly used control strategies,this research method achieves high performance,stability and reliability while reducing control costs,and can be applied to electric drive devices.

关 键 词：测井车 永磁同步电机 鲁棒控制 代价函数 模糊集理论 RICCATI方程 

分 类 号：TE927[石油与天然气工程—石油机械设备]