摘要
针对外界负载发生扰动时永磁同步电机矢量控制器动态性能不佳的问题,提出了一种永磁同步电机有效磁链固定时滑模负载辨识策略(FTSMLTO)。首先,结合有效磁链定义,分析了电机有效磁链模型,构建降阶有效磁链三阶扩展状态观测器,实现对电机参数依赖性的降低;然后结合固定时滑模理论构建了观测器的虚拟控制率和虚拟控制输入,实现电流误差的固定时间收敛,从而提升负载转矩动态变化时的观测精确性和速度;最后将观测到的负载转矩前馈到电流环控制器,从而实现对动态变化的负载转矩的精确观测和补偿,进一步提升控制系统的动态性能。通过数值仿真对提出的扰动辨识策略进行验证,结果发现:相较于传统滑模负载转矩观测器,所提出的固定时滑模负载观测策略观测值稳态误差小、动态性能好;采用FTSMLTO前馈补偿后相较于未补偿时转速正向超调减小约10.7%,负向超调减小约14.9%,正弦负载时超调减小约25.0%。
The vector controller of the permanent magnet synchronous motor(PMSM)suffers poor dynamic performance when external load disturbance occurs.Therefore,a novel active flux fixed-time sliding mode load disturbance identification method for the PMSM was proposed in this paper.Firstly,based on the definition of active flux,the active flux model of the motor was analyzed,and the reduced-order active flux third-order extended state observer was constructed in combination with the extended state observer theory to reduce the dependence on the motor parameters.Then the virtual control rate and virtual control input of the observer was constructed in combination with the fixed-time sliding mode theory to realize the fixed-time convergence of the current error and improve the observation accuracy and corresponding speed when the load torque changed dynamically.Finally,the observed load torque was fed forward to the current loop controller to realize the accurate observation and compensation of the dynamically changing load torque,and further improve the dynamic performance of the control system.The proposed disturbance identification strategy was verified by numerical simulation:Compared with the traditional sliding mode load torque observer,the fixed-time sliding mode load observer proposed in this paper has a lower steady-state error and better dynamic performance;compared with the uncompensated condition,after FTSMLTO feedforward compensation is adopted,the positive speed overshoot is reduced by about 10.7%,the negative overshoot by about 14.9%,and the overshoot under sinusoidal load by about 25.0%.
作者
刘思源
刘凌
靳东松
LIU Siyuan;LIU Ling;JIN Dongsong(State Key Laboratory of Electrical Insulation and Power Equipment,Xi’an Jiaotong University,Xi’an 710049,China;School of Electrical Engineering,Xi’an Jiaoting University,Xi’an 710049,China)
出处
《西安交通大学学报》
EI
CAS
CSCD
北大核心
2023年第9期144-151,共8页
Journal of Xi'an Jiaotong University
基金
国家自然科学基金资助项目(51977173)。
关键词
永磁同步电机
固定时间一致性
滑模负载转矩观测器
状态观测器
扰动前馈补偿
permanent magnet synchronous motor
fixed-time consensus
sliding mode load torque observer
state observer
disturbance rejection feedforward compensation
