基于约束扰动观测器的感应电机鲁棒模型预测控制方法

Robust Model Predictive Control Method for Induction Motors Based on Constrained Disturbance Observer

针对感应电机在参数扰动条件下的高性能鲁棒控制问题,提出一种基于模型预测控制和扰动观测器的感应电机无偏速度控制方法。基于串级控制结构设计内环模型预测转矩控制器和外环鲁棒速度控制器。在考虑电机电流和电压约束的最小损耗及参数随转速变化的前提下,提出一种改进的连续控制集模型预测控制器(CCS-MPC)作为内环转矩控制器;将稳定化MPC方法与离散时域扰动观测器(DOB)相结合,在同时考虑参数不确定性和负载转矩的影响以及电机的转矩限制的前提下,设计外环鲁棒速度控制器,该速度控制器为内环转矩控制器提供参考转矩;通过给出相应的定理和推论验证所提出的转速控制器的鲁棒性;设计物理实验对所提控制方法进行验证。结果表明:在考虑电机转矩限制的条件下,所提出的控制方法具有良好的瞬态及稳态响应,且在负载转矩扰动下具有较好的鲁棒性。

To tackle the problem of high performance robust control of induction motor under parameter disturbances,an unbiased speed control method for induction motors based on model predictive control technique and disturbance observer was proposed.Based on the cascade control structure,the inner loop model predictive torque controller and the outer loop robust speed controller were then giv⁃en.An improved continuous control set model predictive controller(CCS-MPC)was proposed as the inner loop torque controller on the premise of considering the minimum loss under motor current and voltage constraints and the variation of parameters with speed;the stabilized MPC method was combined with the discrete time domain disturbance observer(DOB),and the outer loop robust speed con⁃troller was designed under the premise of considering the influence of parameter uncertainty and the load torque and torque limit of the motor,which provided reference torque for the inner loop torque controller;the robustness of the proposed speed controller was illustra⁃ted by the corresponding theorem and lemma;physical experiments were designed to verify the proposed controlling method.The results show that under the condition of considering the torque limit of the motor,the proposed method has good transient state and steady state response,and it has good robustness under load torque disturbance.