感应电机Backstepping控制方法及dSPACE实时仿真研究

Study on Backstepping Control and dSPACE Realization for Induction Motors

感应电机的高性能控制研究始终是非线性控制领域中的一个重要研究方向,Backstepping控制方法的提出为感应电机控制系统的非线性设计带来了全新的思路。利用本质上是非线性反馈控制的Backstepping方法,在转子磁链和电机转速不可测的情形下,实现感应电机部分状态反馈的位置渐近跟踪,且确保系统中的所有信号的有界性。该方法通过建立磁链、转速观测器,设计全局定义的控制律,具有形式简单、无奇异点、鲁棒性好等的特点。基于dSPACE的在线仿真结果表明:系统运行平稳,转速、磁链不可获知时,仍可有效渐近跟踪期望的参考位置,具有较优的伺服跟踪特性。

Due to its great potential value in applications and theory, nonlinear control strategies of induction motors, especially backstepping control methods, have been a focus. The main purpose is to develop a control algorithm that forces the induction motor to track position trajectories with immeasurable load rotor flux and load velocity. To achieve this, a partial state feedback backstepping control method was developed. The control strategy utilized a novel rotor velocity and flux observer which facilitates the potential for improved position tracking transient performance. In addition, the ovserved integrator backstepping technique was utilized to ensure the observer-based controller remains bounded. Backstepping control combined with partial state feedback scheme not only has the advantages such as nonexistence of singularity, but also leads to a simple control structure and enhances the robustness of the control system. The on-line simulation results based on dSPACE illustrate the effectiveness of the backstepping control strategy for the induction motors under practical conditions. It is shown the obiective of position tracking is satisfied even with unknown motor speed and flux information.