异步电动机的端口受控哈密顿控制与L2增益扰动抑制

Port-Controlled Hamiltonian Control of Asynchronous Motors and L2-Gain Disturbance Attenuation

针对在异步电动机调速系统中负载转矩存在扰动的问题,在异步电动机状态误差端口受控哈密顿(PCH)控制基础上,提出一种采用L2增益抑制扰动的控制方法。首先,建立了异步电动机的PCH系统模型,并构建了期望的闭环状态误差PCH系统。根据转子磁场定向原理,确定了期望的平衡点,利用互联和阻尼配置方法,设计了负载转矩恒定已知时的控制器。其次,针对负载扰动问题,利用L2增益控制原理,设计了异步电动机PCH系统负载扰动抑制控制器,同时为了更好地消除扰动带来的稳态误差,在此基础上引入了PI控制。仿真结果表明,所设计的控制器具有很好的转速跟踪性能和负载扰动抑制能力,有一定的应用前景。

Aiming at such characteristics that the load torque in asynchronous motor system was usually variable, a load torque disturbance attenuation controller based on L2-Gain control was designed to restrain the load torque disturbance on the basis of PCH control of induction motors （IM）. First of all, a nonlinear mathematical model of IM was established based on the PCH system theory. Then, The degired equilibrium of the system was obtained based on the idea of field orientation. Using interconncction and damping assignment method, the controller was designed when load torque was constant and known. Finally, the L2-Gain load torque disturbance attenuation technology was applied to the PCH control of IM system, and PI control was applied to eliminate the steady state error brought by the load disturbance. The simulation results showed the system had good ability of load disturbances attenuation and speed tracking performance.