基于广义预测控制和扩展状态观测器的永磁同步电机控制

Generalized predictive control based on extended state observer for permanent magnet synchronous motor system

中文关键词  电动汽车驱动  永磁同步电机  广义预测控制  扩展状态观测器

英文关键词  electric drive  permanent magnet synchronous motor  generalized predictive control  extended state observer

中文摘要

      在电动汽车等工况复杂的系统中, 实现永磁同步电机驱动系统的快响应和强鲁棒性控制历来是研究的重 点和难题. 预测控制策略可实现快速的动态响应, 但依赖电机的数学模型. 本文结合广义预测控制理论和扩展状态 观测器, 提出了一种新型的永磁同步电机转速跟踪控制方法. 首先基于连续时间非线性系统的广义预测控制方法, 设计了速度跟踪控制器; 然后针对外部扰动引起的电机性能下降问题, 设计了扩展状态观测器估计系统扰动, 通过 对扰动量的补偿, 提高了鲁棒性; 而且控制器参数容易调节. 试验结果表明, 电机从静止到1000 r/min, 与PI控制相 比, 超调量小, 响应速度快. 特别是在电机运行过程中外加负载扰动时, 转速跌落更小, 且更快的恢复到给定值.

英文摘要

      For a permanent magnet synchronous motor, the design of a drive system with fast response and strong robustness has always been the key and difficult problem in complicate working conditions. The predictive control strategy provides a fast dynamical response, but it depends on the mathematical model of the motor. Combining the generalized predictive control theory and the extended state observer, we propose a novel speed tracking control method for the permanent magnet synchronous motor. Firstly, based on the generalized predictive control theory of continue time nonlinear system, we design a speed tracking controller. Then, to deal with the problem of degradation in control performance due to the large perturbation, we design an extended state observer to estimate the disturbance and improve the robustness by compensating for the disturbance, thus making the controller parameters easy to be adjusted. When compared with the PI control method, the proposed controller has the smaller overshoot and the faster response when the motor starts from 0 r/min to 1000 r/min. When a load disturbance is added to the motor, the speed has the smaller depreciation and recovers to the given value in a shorter time length.