感应电动机双闭环无源性跟踪控制

Speed Tracking System for Induction Motor Using Passivity-Based Controller

针对感应电动机存在参数时变性、非线性耦合变量和转子电流不易测量等问题,从能量角度分析了感应电动机定子电流-转子磁链动态方程,建立感应电动机的Eu ler-Lagrange(EL)模型。基于无源性控制方法,以定子电流为状态变量,提出不需要转子电流观测器的改进控制算法,以转矩内环和转速外环,设计了感应电动机的双闭环无源性控制器;以控制期望值注入感应电动机EL模型,反推模型得到系统的控制量。通过与直接转矩控制方法的仿真结果比较,无源性控制器可使感应电动机转子磁链、转矩和转速快速跟踪给定值,鲁棒性好,系统易于实现,而且无源性控制律是全局稳定的控制算法,从而验证了无源性控制策略可行性和有效性。

According to the time-variant characteristics of parameters,the nonlinearity coupling variables and no easy measuring the rotor current of IM,the Euler-Lagrange（EL） model of induction machine（IM） were constructed with the analysis of the dynamic equations of stator current and rotor flux of IM from the energy viewpoint.A novel improvement control algorithm was proposed with stator current as state variable and without rotor current observer based on passivity theory.The double-loop passivity-based controller was designed to regulate the speed and the torque of IM.The control variables were derived from EL model of IM by substituting them with expectation values.Comparison between simulations results with those of the direct-torque control method shows that the passivity-based controller is a globally stable algorithm which makes rotor flux,torque and speed rapidly track expectation values.The robustness,feasibility and efficiency of the passivity-based controller were verified.