电气工程学报 ›› 2020, Vol. 15 ›› Issue (3): 38-43.doi: 10.11985/2020.03.005

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基于自适应反推的永磁同步电动机转速控制策略*

俞沛宙1(),杨刚1(),杨继辉1(),张宇华2,薛花2,黄珂2   

  1. 1.国网浙江宁波市鄞州区供电有限公司 宁波 315100
    2.上海电力大学电气工程学院 上海 200090
  • 收稿日期:2020-04-07 修回日期:2020-06-05 出版日期:2020-09-25 发布日期:2020-10-28
  • 作者简介:俞沛宙,男,1981年生,高级工程师。主要从事电网自动化工作。E-mail:yupeizhou@sina.com|杨刚,男,1988年生,工程师。主要从事电网自动化运维工作。E-mail:339354694@qq.com|杨继辉,男,1980年生,助理工程师。主要从事配电网运维工作。E-mail:298698294@qq.com
  • 基金资助:
    * 浙江省电力公司科技(5211NB1800LF);上海市自然科学基金(15ZR1418000);上海市科技创新行动计划(19DZ2204700)

Speed Control Strategy of Permanent Magnet Synchronous Motor Based on Adaptive Backstepping

YU Peizhou1(),YANG Gang1(),YANG Jihui1(),ZHANG Yuhua2,XUE Hua2,HUANG Ke2   

  1. 1. State Grid Zhejiang Ningbo Yinzhou District Power Supply Co., Ltd., Ningbo 315100
    2. School of Electrical Engineering, Shanghai University of Electric Power, Shanghai 200090
  • Received:2020-04-07 Revised:2020-06-05 Online:2020-09-25 Published:2020-10-28

摘要:

针对永磁同步电动机存在的非线性项的不确定性,以及在运行过程中参数摄动与负载扰动对机械角频率、转速以及系统控制产生的影响,适应高精度、高稳定的调速应用要求,提出一种基于自适应反推的永磁同步电动机转速控制策略。应用非线性反推控制解决电动机的非线性问题,并将自适应控制与其结合,实现电动机转速对期望值的自适应调节跟踪,从而获得较好的动态响应及鲁棒性。建立包含参数摄动以及输出侧负荷扰动的永磁同步电动机数学模型,设计出满足李雅普诺夫稳定的反推控制器,用自适应算法优化反推控制器参数,进一步提高系统稳定性和鲁棒性。仿真结果验证了本控制器良好的速度跟踪与抗干扰调节效果,验证了本方法的有效性。

关键词: 永磁同步电动机(PMSM), 自适应反推控制, 李雅普诺夫, 鲁棒性

Abstract:

Aiming at the uncertainty of nonlinear term in permanent magnet synchronous motor and the influence of parameter perturbation and load disturbance on mechanical angular frequency, rotational speed and system control during operation, a rotational speed control strategy of permanent magnet synchronous motor based on adaptive backstepping is proposed to meet the requirements of high precision and high stability speed control application. The nonlinear backstepping control is applied to solve the nonlinear problem of the motor, and the adaptive control is combined with the nonlinear backstepping control to realize the adaptive adjustment and tracking of the motor speed to the expected value, thus obtaining better dynamic response and robustness. The mathematical model of permanent magnet synchronous motor including parameter perturbation and output side load perturbation is established, and a backstepping controller satisfying Lyapunov stability is designed. Adaptive algorithm is used to optimize backstepping controller parameters to further improve system stability and robustness. The simulation results verify the controller's good speed tracking and anti-interference adjustment effects, and the effectiveness of the method.

Key words: Permanent magnet synchronous motor(PMSM), adaptive backstepping control, Lyapunov, robustness

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