永磁同步电动机的非线性PI速度控制

NONLINEAR PI SPEED CONTROL OF PERMANENT MAGNETIC SYNCHRONOUS MOTOR

永磁同步电动机(PMSM)是典型的非线性系统,该文考虑了齿隙转矩、谐波转矩等转矩波动和各种不确定扰动,建立了包含非线性不确定项的PMSM数学模型。针对所提模型,采用非线性PI控制方法实现速度控制,得到具有鲁棒性能的控制器。非线性PI控制摒弃了传统自适应控制方法对不确定系统控制时所采用的参数辨识加反馈控制器设计的结构,不需要知道非线性不确定函数的具体形式,通过确定该函数的界来设计控制器的参数,使系统能够达到全局渐近稳定或者实现对参考信号的跟踪。仿真结果表明了控制算法的有效性。

Considering various uncertain disturbances and torque ripple that mainly consists of cogging torque and harmonic torque, a transient model of PMSM, which include nonlinear uncertainty, was first established and then the nonlinear control strategy was introduced to the PMSM speed regulation system to derive a robust speed controller. Unlike the classical adaptive control approach consisting of an identifier and a parameterized feedback law, the nonlinear PI control structure can generate a stable error equation with a perturbation function, which converge to zero asymptotically. Without knowing the parameters of nonlinear uncertainties, we design the controller parameters based on the information of the uncertain terms’ boundaries. Simulation results show that the proposed controller is effective.