基于谐波抑制和扰动观测器的磁通切换永磁直线电机联合控制方法

A Joint Control Method for Linear Flux-Switching Permanent Magnet Machine Based on Harmonic Suppression and Disturbance Observer

为解决磁通切换永磁直线(LFSPM)电机驱动系统推力波动较大的问题,研究其定动子双凸极结构引起的与位移相关的定位力以及参数摄动、外部扰动等非线性因素对电机运行稳定性的影响,提出了一种将谐波抑制算法和扰动观测器相结合的联合控制策略。首先,在分析磁通切换永磁直线电机定位力的基础上,通过注入谐波电流产生的电磁推力抵消定位力的主要谐波分量,从而实现对定位力的补偿;同时将参数摄动引起的电机模型误差和外部干扰视为系统扰动,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,在保证对系统扰动有较强鲁棒性的同时,提高系统的动态性能。最后,搭建了基于A&D5435半实物装置的实验平台,并通过实验研究验证了所提控制算法的可行性和有效性。

For the primary permanent magnet linear flux-switching permanent magnet(LFSPM)machine,but the servo performance is affected by the position-dependent cogging force caused by double salient structure,parameter uncertainties and external disturbance.A joint control strategy based on combining the harmonic suppression algorithm(HSA)and the disturbance observer(DOB)was proposed.Then,harmonic current is added into the reference current to compensate the thrust ripple due to the cogging force.And then it can regards external disturbance and model error caused by inductor parameter change as disturbance of the system,using a DOB to observer,and the observer values are regarded as compensation signal feedback to the input to offset the effect of disturbance on system.So that the system can achieve fast dynamic response and improve robust performance.Experimental evaluations of the proposed scheme are carried out on an A&D5435-controlled LFSPM drive platform.The results are provided to verify and confirm the practical efficiency of the proposed approach.