Two-degree-freedom internal model control for current loop of small rotational inertia PMSM

为改进小转动惯量永磁同步电机电流动态响应性能,建立考虑旋转反电动势和逆变器环节的永磁同步电机电流环三阶数学模型,以该数学模型为基础,设计小转动惯量永磁同步电机电流环二自由度内模控制器。并针对该电流控制系统的鲁棒性能与内模控制器参数、反馈滤波器参数都相关的问题,引入新的反馈滤波器,使两参数分别调节系统的动态跟踪性能和鲁棒性能。详细分析该内模控制方法下系统参数敏感度和负载对电流动态性能的影响。最后通过仿真和实验,表明该方法有助于提高小转动惯量永磁同步电机电流动态响应性能,且参数调整简单明确。In order to improve the current dynamic response performance of small rotational inertia permanent magnet synchronous motor(PMSM),a three-order mathematic model of current loop considering rotating electromotive force and inverter was built.Based on that,a two-degree-freedom internal model control(2Dof-IMC) for current loop was proposed.With the problem,robustness of 2Dof-IMC system was dependent on two parameters of the feedback filter and internal controller,a new feedback filter was designed.Then current dynamic following performance and system robustness can be adjusted by corresponding parameter.In addition,the system sensitivity function and effect of load on current dynamic response performance were analyzed in detail.Finally by means of simulation and experiment,it is confirmed that this control strategy can improve the current dynamic response performance of small rotational inertia PMSM,and adjustment of its parameter is simple and definite.福建省自然科学基金(2010J05141

Permanent Magnet Synchronous Motor Position Control Using Composite Nonlinear Feedback With Model Compensation

为使永磁同步电机位置跟踪控制系统具有无超调快速响应性能和较强的系统参数、负载鲁棒性,提出一种基于模型自适应补偿的非线性组合反馈控制方法。针对高增益线性反馈与超调的矛盾性,以非线性反馈控制器为第二控制器,实现无超调快速跟踪参考位置,并讨论了存在输入受限情况下离散非线性组合反馈控制在吸引域内的稳定性条件。针对一般非线性组合反馈控制的参数和负载扰动自适应差的问题,采用仿射投影模型自适应补偿算法提高系统鲁棒性。通过仿真和实验表明该新型组合控制方法除了具有很好的动静态性能,还具有良好的参数、负载鲁棒性,适用于永磁同步电机高性能位置跟踪控制。In order to meet the requirement,namely rapid non-overshoot response and good robustness for parameters and load,a new composite nonlinear feedback(CNF) control based on model compensation is proposed for permanent magnet synchronous motor(PMSM) position tracking control system.Considering the contradictions high-gain linear feedback with overshoot,a second nonlinear feedback controller was used to realize rapid and non-overshoot response of system.And the stability of discrete composite nonlinear feedback with input saturation was also deducted respectively in detail.With poor robustness for parameters and load of normal CNF control,a model compensation algorithm offered by the affine projection was adopted.Finally by means of simulation and experiment show that the new composite control method has very good dynamic and static performance,furthermore excellent robustness for parameter and load.And it is suitable to realize high performance position tracking control for PMSM.国家自然科学基金项目(61074004)---

Initial rotor position estimation method for IPMSM

针对现有内置式永磁同步电机(IPMSM)转子初始位置估计方法设计复杂与计算量大的问题,提出了基于旋转高频信号注入和傅氏算法的改进方法。使用移相和傅氏算法从响应电流中提取转子位置初步估算值,利用磁路饱和特性获得转子磁极方向,综合其结果得到转子初始位置,并对死区效应等非线性因素对该方法的影响进行了分析。在此基础上提出使用移位代替移相滤波器(通过选择适当的PMW频率和注入信号频率)、平均滤波等方法改进算法实现。在实验平台上完成验证实验,实验结果表明本文提出的方法能够快速且准确地估算出IPMSM转子初始位置(误差小于6°电角度),并且该方法相比传统方法更容易实施、计算量更小,适合工程应用。Aiming at the complicated design and large computation problem of the present initial rotor position estimation method for interior permanent magnet synchronous motor(IPMSM),an improved initial rotor position estimation method based on rotating high-frequency signal injection and Fourier algorithm is proposed in this paper.Phase shift and Fourier algorithm were used to obtain the preliminary estimation of rotor position from the response current,and the nonlinear characteristic of magnetic saturation was utilized to identify the rotor pole polarity.Finally the initial rotor position was determined by synthesizing the results above,and furthermore the effect of the nonlinear factor such as dead-time was analyzed.On that basis,methods such as using displacement instead of phase-shift filter(by selecting proper frequencies of the pulse width modulation(PWM) and injected signal),using averaging filter was proposed to improve the realization process.In the end,the verification experiments were implemented on the experimental platform.The experimental results show that the proposed method obtains the initial rotor position quickly and accurately(the estimation error is less than 6 electrical degrees),and it is simpler to realize and needs less computation than the traditional methods,which makes it suitable for engineering applications.国家985工程(0000-x07204); 福建省自然科学基金(2010J05141); 福建省教育厅资助科技项目(JA12262

Internal Model Control for Current Loop of Small Rotational Inertia PMSM

永磁同步电机调速系统由于电流动态过程中反电势的影响,特别是小转动惯量电机,电流动态响应明显恶化。为了减小电机动态过程中反电势对电流环的影响和改进电流动态响应性能,以考虑旋转反电势永磁同步电机电流二阶系统为对象,依据内模控制原理设计出小转动惯量永磁同步电机电流内模控制器,该方法参数单一,电流动静态性能好,鲁棒性强,工程上容易实现,且系统具有很好的动态加速度性能。最后通过仿真验证该控制器对小转动惯量永磁同步电机电流环控制的有效性。In the engineering design method of permanent magnet synchronous motor(PMSM) speed control system,especially for small rotational inertia motor,rotating electromotive force perturbation of current loop is effectively inhibited and the current dynamic response is poor.In order to reduce the perturbation of rotating electromotive force and improve dynamic response property of the current loop,internal model control for current loop of small rotational inertia PMSM is presented and this method takes the second-order system of PMSM current loop as controlling object.This control strategy is effective and can achieve not only good dynamic and static performance but also strong robustness,furthermore,it has only single adjusted parameter.Finally the simulation results prove this control method is effectiveness for current loop of small rotational inertia PMSM.国家985工程资助项目(0000-07204);福建省自然科学基金计划资助项目(2010J05141

Permanent magnet synchronous motor model adaptive model compensation speed control

针对参数变化、负载扰动带来的永磁同步电机速度控制问题,提出基于投影算法的永磁同步电机模型自适应补偿速度控制。依据永磁同步电机速度环模型自适应补偿的充分条件,设计满足该条件的参数、负载估计投影算法,并以计算出的前馈控制量补偿到速度控制系统中,使实际速度系统等效于无参数变化、无负载扰动的标称模型,并对该标称模型设计速度跟踪控制器。仿真和实验表明,该方法可实现了速度控制系统在参数、负载不确定性环境下的快速、小超调甚至无超调的鲁棒跟踪控制。In order to improve the robustness for load disturbance and parameter variable of permanent magnet synchronous motor(PMSM) speed control,a new model adaptive compensation control based on projection algorithm was proposed in this paper.Firstly sufficient condition satisfied with model adaptive compensation was deducted in detail.Then the projection parameter estimation algorithm satisfied with the condition was designed.Calculation of the estimations feed-forward compensated PMSM speed control system.With the help of on-line adaptive compensation,the real system is equivalent to normal model without load disturbance and parameter variable and the speed controller based on the normal model was designed.Finally simulation and experimental results show that the control strategy has a good robustness for load disturbance and parameter variable,furthermore it can achieve rapid and little overshoot or non-overshoot response performance.福建省自然科学基金(2010J05141);国家自然科学基金(61074004

Discrete composite control with nonlinear feedback and internal model for a class of SISO systems

以非线性反馈控制器为第二控制器,提出了一种抗饱和离散非线性反馈内模组合控制.采用非线性反馈控制器实现系统无超调,而内模控制器在满足系统鲁棒稳定条件下,设计较小的阻尼率,确保响应快速性和无静差.详细讨论了存在输入受限情况下该组合控制在吸引域内的稳定性,以及降阶输出非线性反馈内模组合控制律在吸引域内的稳定条件.仿真实例表明该新型组合控制方法除了能够无静差跟踪参考输入外,还具有良好的动态性能.Taking a nonlinear feedback control as the second controller,a discrete composite control based on nonlinear feedback and internal model theory was proposed to realize the system′s non-overshoot.Internal model controller can support small damping ratio with no steady state error and rapid response on satisfaction of system robust stability.The stability of the composite control and reduced-order output feedback composite control for linear systems with input saturation were deducted respectively in detail.Finally by means of simulation,it is confirmed that except for no steady state error,the systems have an excellent transient performance.国家自然科学基金资助项目(61074004

A current control strategy for the permanent magnet synchronous motor based on model predictive control

永磁同步电机(PMSM)的矢量控制受交叉耦合、输出延时、参数失配等因素的影响.针对这些问题,提出了基于模型预测控制(MPC)的电流控制策略.该策略利用MPC的预测状态来减小输出延时对解耦所造成的影响,并使用历史数据进行反馈校正结合滚动优化以消除参数失配和模型误差等因素对控制的影响,保证电流的跟踪性能.仿真和实验结果表明,该策略能够有效地改善矢量控制的动态响应,并具有较强的鲁棒性,此外,该策略的参数整定简单,适合工程应用.The performance of current vector control for the permanent magnet synchronous motor( PMSM) is affected by factors such as cross-coupling,applying delay and parameter mismatch.In order to solve these problems, a current control strategy based on the model predictive control( MPC) algorithm was proposed.The predictive states of MPC are used to eliminate the influence that the applying delay has on the decoupling,the feedback correction and receding optimization are implemented based on the foretime information,to eliminate the influence of the factors such as parameter mismatch and model error etc.,so as to guarantee the tracking performance of the current control.The simulation and experimental results demonstrate that the proposed strategy could improve the dynamic response of vector control efficaciously,and has strong robustness.In addition,the parameters are fewer and easy for tuning,which makes it suitable for engineering applications.国家985计划资助项目(0000-X07204); 福建省自然科学基金资助项目(2013J01204); 福建科技厅重点基金资助项目(2013H0037

Improved Extended Kalman Filter Velocity Estimation for Permanent Magnet Synchronous Motor

针对使用增量式编码器的永磁同步电机(PMSM)伺服系统中的传统测速算法(M算法结合低通滤波)存在的时延与不准确的问题,提出了一种改进的扩展卡尔曼滤波(Ekf)测速算法.该方法在不修改原有电路的前提下,利用Ekf算法抑制噪声且不产生时延的特点,针对性地设计了观测模型,并通过矩阵变换与利用定点数字信号处理器累加溢出的周期性,极大地简化了原有的Ekf算法.实验结果证明:该算法能够在电机的整个运行过程中给出相对实时的、准确的速度估计值,在一定程度上改善了电机的调速性能,并且算法具有很强的实用性.Aiming at the lagging and inaccuracy in the traditional velocity estimation method for permanent magnet synchronous motor(PMSM) with incremental encoder,an improved method based on extended Kalman filter(EKF) was proposed,an EKF observer was designed to obtain the estimated speed accurately without lagging,and the algorithm was simplified with matrix transformation and the overflow periodicity of accumulator in the fixed-point DSP.The experiment results show the relatively accurate velocity estimation without large lagging in the entire process of motor.福建省自然科学基金资助项目(2010J05141

PLC在高温空气发生器控制中的应用

介绍了高温空气发生器的工作原理与特点，提出了采用可编程序控制器(PLC)控制四通阀周期切换的控制方案