基于内模干扰观测器的永磁同步直线电机无差拍电流预测控制方法

Deadbeat Predictive Current Control for Permanent Magnet Linear Synchronous Motor Based on Internal Model Disturbance Observer

针对永磁同步直线电机(PMLSM)无差拍电流预测控制中因参数扰动与模型失配导致电流误差问题,提出基于内模干扰观测器(IMDO)的鲁棒电流预测控制来实现精确的电流环控制。首先,构建基于永磁同步直线电机数学模型的无差拍电流预测控制算法,得到了算法的稳定域,使控制算法在电机参数摄动范围内稳定;其次,将内模干扰观测器估计的系统扰动引入含参数扰动的电压方程,保证观测的状态变量不断逼近准确的系统状态变量,为传统无差拍电流预测控制算法提供实时扰动补偿,从而实现电流环的精确稳态无差控制。实验结果验证了本文提出的算法在参数扰动和模型失配时能够实现快速精确控制,明显提高了系统的鲁棒性能。

Aiming at the current error caused by parameters disturbance and model mismatch,a robust predictive current control(RPCC)with internal model disturbance observer(IMDO)is proposed to achieve high accurate current control of permanent magnet linear synchronous motor(PMLSM)drives.Firstly,a deadbeat current predictive control algorithm based on the mathematical model of permanent magnet synchronous linear motor is constructed,and the stability domain of the algorithm is obtained.Thereby,the control algorithm is stable within the error range of motor parameters.Secondly,the estimation system of the internal disturbance observer is estimated.The disturbance is introduced into the voltage equation with parametric perturbation to ensure that the observed state variables continuously approach the accurate system state variables,which provides real-time disturbance compensation for the traditional deadbeat current predictive control algorithm.The experimental results show that the proposed algorithm can achieve fast and errorless current tracking effect when parameter disturbance and model mismatch,and improve the robustness of the system.