基于自抗扰控制器的电动轮自卸车的控制与仿真分析

Control and Simulation Analysis of the Electric Wheel Dump Truck Based on Active Disturbances Rejection Controller

针对矿用电动轮自卸车的变频调速矢量控制系统中感应电机参数时变严重,控制鲁棒性差的难题,提出了一种基于变结构自抗扰控制器的感应电动机变频调速系统控制方案,将转子电阻时变看作磁链子系统的一种内扰,负载干扰对转速子系统的影响作为转速子系统的外扰,通过扩张状态观测器对不确定扰动予以估计和补偿.该方案有效地解决了参数时变对矢量控制系统解耦性能的影响,动态控制性能优于传统PI调节器,仿真结果验证了方案的合理性与有效性.

To address the poor robust control and large scale parameter time-varying of induction-motor variable-frequency speed regulation system in electric wheel dump truck,a kind of control scheme for induction-motor variable-frequency speed regulation systems was proposed on the basis of the variable structure active disturbances rejection controller（ADRC）,the change in rotor resistance was regarded as the inner disturbance of the flux subsystem,the effect of load change as exterior disturbances of the rotate speed subsystem respectively,and the extended state of an extended state observer（ESO） was used for estimation and compensation.The control scheme can solve such problems as the effect of time-varying parameter on the decoupling performance of a vector control system;and its dynamic control performance is superior to the traditional PI controller.Simulation result has verified the rationality and validity of the scheme.