采用扰动观测器的偏差解耦控制方法

Deviation Decouple Control Method Based on Disturbance Observer

为解决dq坐标系下传统解耦方法在电感参数变化时动态解耦效果不佳的问题,提出一种基于扰动观测器的偏差解耦控制方法。该方法将电感参数变化和电流耦合引起的电压误差视为系统扰动,利用扰动观测器对其进行观测,并将观测值作为补偿信号反馈到输入端以抵消扰动对系统的影响。借助扰动观测器的频率特性调整被控对象的幅、相频响应,即便电感参数变化也能使被控对象标称化。该方法不仅能实现dq轴间的电流解耦,还对干扰起抑制作用,在保证系统对电感参数摄动有较强鲁棒性的同时,提高系统的动态性能。通过对传统解耦方法与新方法的仿真分析和实验比较,验证了所提方法的可行性和有效性。

To solve the problem of non-ideal dynamic decoupling result with traditional method in dq coordinates when inductor parameter changes, a kind of deviation decoupling control method based on disturbance observer is proposed. This method regards inductor parameter change and voltage error caused by current coupling as disturbance of the system, using a disturbance observer to observe, and the observed values are regarded as compensation signal feedback to the input to offset the effect of disturbance on system. Frequency characteristic of disturbance observer is used to adjust the amplitude and phase frequency response of controlled target, even if the system parameters change, it can also make the controlled target normalization. The method not only realizes dq current coupling but also restrains disturbance, when parameters change, system is strongly robust, and has a good dynamic performance. Simulation analysis and experiments are done to compare the traditional decoupling method and the new method, then the results verify the feasibility and effectiveness of the method.