永磁同步电机调速系统H_∞鲁棒控制

H_∞ Robust Control of PMSM Speed Regulation System

针对表面式永磁同步电机调速系统易受参数摄动和负载扰动等不确定性因素的影响问题,在传统矢量控制方案基础上提出了H_∞鲁棒控制策略。首先,在系统状态空间表达式误差模型下,考虑扰动因素设计了基于哈密顿-雅可比不等式的H_∞鲁棒电流控制器,实现了电流控制的鲁棒性;其次,在运动方程扩展状态空间表达式下,设计了基于线性矩阵不等式的H_∞状态反馈控制器增益型H_∞滑模面,进一步设计滑模控制律,得到了鲁棒H_∞滑模速度控制器,确保了速度控制的鲁棒性,改善了系统的动态品质;最后通过仿真和半实物仿真实验验证了该文提出控制策略的有效性和可行性。

In view of the problem that the surface permanent magnet synchronous motor(SPMSM)speed rugulation system is vulnerable to the influence of uncertainties such as parameters perturbation and load disturbance, the H_∞ robust control strategy based on the conventional vector control method is proposed. Firstly, on the basis of the state space expression error model of the system, the HamiltonJacobi inequality(HJI) based H_∞ robust current controller considering the factors of disturbances is designed, which realizes the robustness of current control;secondly, the linear matrix inequality(LMI)based H_∞ sliding mode surface composed of H_∞ state feedback controller gain in the extended state space expression of the SPMSM motion equation is designed. Furthermore, the sliding mode control law is designed and the robust H_∞ sliding mode speed controller is acquired, which achieves the robustness of speed control and improves the dynamic performances of the system. Finally, the effectiveness and availability of the proposed control strategy are verified by simulation and the hardware-in-the-loop simulation experiment.