基于干扰观测器的感应电机内模控制方法研究

Research on Internal Model Control of Induction Motors Based on Disturbance Observer

内模控制(IMC)因其结构简单、易于实现已得到广泛应用,但传统IMC不能有效消除电机运行过程中存在的参数摄动、负载扰动及一些不确定干扰,从而影响了其在高性能变频调速系统中的应用。为提高系统的抗扰动性能,提出一种基于干扰观测器(DOB)的感应电机IMC-DOB方法,基于感应电机的数学模型设计了DOB,并对DOB的结构进行了理论分析。实验结果表明,DOB可实时估计出系统的扰动值,所提方法在系统发生参数摄动和负载突变时,能在保持传统IMC快速响应动态性能的同时,并对干扰具有较好的鲁棒性。

The internal model control （IMC） has gained widespread acceptance in high-performance applications because of its simple structure and easy implementation.However, the traditional IMC cannot effectively eliminate the disturbance caused by parameter perturbation, load change and some uncertain disturbance, thus its application has been affected in high performance variable frequency speed regulation system.In order to improve the anti-disturbance performance of the system, an IMC method for induction motor based on disturbance observer（DOB） is proposed.The DOB is designed based on the mathematical model of induction motor, and the structure of the DOB is analyzed theoretically.The experimental results show that the DOB can estimate the disturbance of the system in real-time, and when the system parameter variations and load change, the proposed method can maintain the dynamic response performance of the traditional IMC, and have good robustness against the disturbance.