基于双滑模估计的主从结构共轴双电机模型预测直接转矩控制无速度传感器控制策略

Coaxial Dual Motor with Master-Slave Structure Model-Predictive Direct Torque Control Speed Sensorless Control Strategy Based on Double Sliding Mode Estimation

该文以典型的主传动刚性连接共轴双电机为对象,针对双电机主从结构下的高性能控制进行研究,提出一种基于双滑模估计的共轴双电机主从结构无速度传感器模型预测直接转矩控制(MPDTC)策略,在优化双电机转矩动、稳态均衡性能的基础上进行无速度传感器控制,提高系统整体的容错性能。该策略在MPDTC的基础上引入二步反馈补偿预测以提高系统动态性能,并且进一步减小主,从转矩差,同时在传统滑模观测器的基础上设计带随速因子的Sigmoid函数进行单电机转速与转子位置辨识,并结合MPDTC进一步设计基于双滑模估计的共轴电机速度观测器。将仿真结果与多种控制方法进行叠加比较,并在主传动实验平台上进行实验验证,结果表明所提出的主从控制改进策略能进一步抑制稳态转矩脉振和主从电机转矩差,同时能对速度、负载阶跃下的转速进行良好跟踪,尤其是故障下的无速度控制性能良好。

A speed-sensorless model-predictive direct torque control(MPDTC)based on double sliding mode estimation is presented,which improves fault tolerance performance of coaxial dual motor with master-slave structure and provides fast and stable speed reference tracking.With focus on optimizing the dual-motor torque and steady-state equilibrium performance,the two-step feedback prediction is introduced to improve the dynamic performance of the system and reduce the torque discrepancy between master and slave motors.A dual-sliding mode estimator of using MPDTC is designed to obtain the speed and the position of both motors.A Sigmoid function with speed factor is adopted in dual-sliding mode estimator for chattering reduction.By comparing simulation results of several control methods,that conclude this control strategy can asymptotically attenuate the discrepancy between motors’torques with presence of unknown torque disturbances and hence provides good torque balancing.Fast and stable speed reference tracking is obtained and is insensitive to loads and rotate speed change.Especially when the speed sensor fails,the control effect is good.