电力巡检无人机电机电流环时间最优控制策略  

Time Optimal Control Strategy for Motor Current Loop of Electric Power Inspection UAV

作　　者：葛陕行 李怡云 魏继东 操亮 GE Shan-xing;LI Yi-yun;WEI Ji-dong;CAO Liang(State Grid Qinghai Electric Power Company Ultrahigh Voltage Company,Xining 810021,China)

机构地区：[1]国网青海省电力公司超高压公司,青海西宁810021

出　　处：《电力电子技术》2024年第8期35-39,共5页Power Electronics

摘　　要：针对传统方波驱动的无人机电机难以满足电力巡检领域的快速精准响应以及抗干扰能力的需求,开展无人机电机矢量驱动技术研究,主要针对表贴式永磁同步电机(SPMSM)矢量控制中传统电流环控制难以兼顾电流响应快速性与准确性的问题,提出一种带有参数辨识的时间最优与预测的电流环控制策略。为实现电流的快速响应,对电流环进行时间最优控制;为实现电流的精准响应,在时间最优控制的基础上对电流环进行预测控制;为避免电机参数扰动对电流环控制产生负面影响,研究基于模型参考自适应的电机参数在线辨识技术,对电机参数进行更新修正。实验结果表明,相比于传统PI控制,带有参数辨识的时间最优与预测控制能更好地兼顾电流响应的快速性与准确性,所提电流环控制策略具有良好的鲁棒性。In view of the fact that the traditional square wave driven unmanned aerial vehicle motor is difficult to meet the needs of fast and accurate response and anti-interference ability in the field of power inspection,the re-search on the vector drive technology of unmanned aerial vehicle motor is carried out,mainly aiming at the problem that the traditional current loop control is difficult to take into account the rapidity and accuracy of the current re-sponse in the vector control of the surface-mounted permanent magnet synchronous motor(SPMSM),a time-optimized and predictive current loop control strategy with parameter identification is proposed.In order to realize the fast response of the current,the time-optimized control of the current loop is carried out.In order to realize the accurate response of the current,the predictive control of the current loop is carried out on the basis of the time optimal control.In order to avoid the negative impact of motor parameter disturbance on the current loop control,a motor parameter online id-entification technology based on model reference adaptation is studied to update and correct the motor parameters.The experimental results show that,compared with the traditional PI control,the time optimal and predictive control with parameter identification can better take into account the rapidity and accuracy of the current response,and the pro-posed current loop control strategy has good robustness.

关 键 词：无人机 时间最优与预测控制 参数在线辨识 

分 类 号：V279.2[航空宇航科学与技术—飞行器设计]