重载AGV永磁同步电机的改进滑膜直接转矩控制器设计  

Direct Torque Control Optimization of Permanent Magnet Synchronous Motor Based on Heavy-Duty AGV

作　　者：李康宁 杨恩向 李建华[1] 辛舟[1] LI Kang-ning;YANG En-xiang;LI Jian-hua;XIN Zhou(School of Mechanical and Electrical Engineering,Lanzhou University of Technology,Lanzhou 730050;Yunnan Wenshan Aluminum Co.,Ltd.,Wenshan 663099)

机构地区：[1]兰州理工大学机电工程学院,甘肃兰州730050 [2]云南文山铝业有限公司,云南文山663099

出　　处：《制造业自动化》2025年第2期27-33,共7页Manufacturing Automation

基　　金：国家重点研发计划(2020YFB1713603)。

摘　　要：重载AGV(Automated Guided Vehicle)在启动和突加负载时,传统的直接转矩控制(Direct Torque Control,DTC)存在速度超调、转矩脉动大和抗干扰性差等因素。为提高直接转矩控制对重载电机的控制性能,设计了一种线性自抗扰结合改进滑膜控制的直接转矩控制策略。首选,针对传统PI控制速度环存在的速度跟踪不稳定,采用改进的线性自抗扰控制器替换了PI控制结构。然后,针对转矩环在重载时转矩脉动较大的问题,对原有滑膜控制器进行了改进。最后,通过Matlab/Simulink搭建了控制模型,验证了改进的融合控制策略对重载AGV电机的转矩和磁链波动分别降低了56.12%和21.8%,突加负载时的速度波动降低了50.2%,并消除了启动时的速度超调,提升了重载AGV行走时的平顺性。The traditional direct torque control(DTC)tends to be susceptible to some factors such as speed overshoot,large torque ripple and poor anti-interference during the startup and the sudden load of the heavy duty AGV(automated guided vehical).In order to improve the control performance of direct torque control for heavy-duty motors,a direct torque control strategy was designed based on the linear active disturbance rejection combined with improved sliding mode control.Firstly,an improved linear active disturbance rejection controller was adopted to replace the PI control structure to address the instability of speed tracking in the traditional PI control speed loop.Secondly,an original synovial controller was improved to tackle the problem of large torque ripple in the torque loop under heavy load.Finally,the control model was built by Matlab/Simulink,and the improved fusion control strategy was verified to reduce the torque and flux fluctuation of heavy-duty AGV motor by 56.12% and 21.8%,respectively.The speed fluctuation under sudden load was reduced by 50.2%,and the speed overshoot at start-up was eliminated,all of which improved the ride comfort of heavy-duty AGV.

关 键 词：重载AGV 永磁同步电机 改进滑模控制 线性自抗扰控制 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]