PMSM精确反馈线性化的稳速控制

Constant-speed Control of PMSM Based on Precise Feedback Linearization

为了探索永磁同步电机PMSM的输入-输出精确反馈线性化的解耦模型,以得到更好的稳速控制性能,本文首先应用最为广泛的PMSM作为研究对象,采用微分同胚变换和反馈线性化理论,适当处理负载转矩以改进PMSM及其变流器的非线性行为。然后基于PMSM的输入-输出精确反馈线性化的解耦模型,使用正交投影的概念在整个负载扭矩和转速范围内设计dq轴相电流和两个控制输入变量之间同构映射的线性化控制器,实现了PMSM全局解耦和整体线性化控制。仿真和实验结果表明该方法能够快速跟踪负载转矩和保持恒定转速,具有过冲小、静态误差小、鲁棒性强、控制精确性高等优点,并可以应用在工程实际中。

To obtain a better constant-speed control performance,the decoupling model of a permanent magnet synchronous motor(PMSM)based on the input-output precision feedback linearization should be studied in depth. In this paper,the most widely used PMSM is taken as the research object,and the differential homeomorphic transformation and feedback linearization theory are applied to improve the nonlinear behavior of PMSM and its converters by properly processing the load torque. Then,on the basis of the decoupling model of PMSM based on the input-output precision feedback linearization,the concept of orthogonal projection is adopted to design a linearization controller for the isomorphic mapping between the dq-axis phase-current and two control input variables in the whole range of load torque and rotating speed,thus realizing the global decoupling of PMSM and its overall linearization control. Simulation and experimental results showed that the proposed method can quickly track the load torque and maintain constant speeds,and it had advantages of small overshoot,small static error,strong robustness and high control accuracy. Therefore,it is suitable for engineering practices.