电力机车永磁同步电机自适应模糊终端滑模控制

Sliding Mode Control of Self-adaptive Fuzzy Terminal of Electric Locomotive Permanent Magnet Synchronous Motor

为研究牵引工况下电力机车永磁同步电机的转速控制精度,考虑轮轨接触不平顺在轮对径向产生的未知时变负载,建立了机车永磁同步电机在d-q坐标系下的数学模型;针对其中的未知时变负载,设计超扭转转矩观测器估计其实际值,对观测误差的导数采用自适应模糊逻辑系统进行逼近;为提升收敛速度和稳态跟踪精度,在滑模面中引入类势能函数,并依据Lyapunov稳定性理论,构造了基于转矩观测器的自适应模糊终端滑模控制器。理论分析及仿真结果表明,机车永磁同步电机闭环转速跟踪误差一致有界。滑模面及轴电压、轴电流动态抖振较小;滑模面及转矩观测误差收敛于零。

In order to study the speed control accuracy of the permanent magnet synchronous motor of electric locomotive under traction condition,considering the unknown time-varying load generated by the irregular wheel-rail contact in the wheel set radial direction,a mathematical model of the locomotive permanent magnet synchronous motor was established under the d-q coordinate system,and the super-twisted torque observer was designed to estimate its actual value for the unknown time-varying load,and the derivative of observation error was approximated by adaptive fuzzy logic system.Meanwhile,aiming at improving convergence speed and steady-state tracking accuracy,the class potential function was introduced in the sliding mode surface and the adaptive fuzzy terminal sliding mode controller was constructed based on torque observer according to Lyapunov stability theory.The theoretical analysis and simulation results show that the closed-loop speed tracking error of the permanent magnet synchronous motor of locomotive is uniformly bounded,the sliding mode surface and shaft voltage and shaft current dynamic buffeting are small,and the observation error of the sliding mode surface and torque are converged to 0.