基于非线性磁路饱和模型的永磁同步电机增益调度电流控制

Gain Scheduling Current Control of Permanent Magnet Synchronous Machine Based on Nonlinear Magnetic Saturation Model

随着永磁同步电机(permanent magnet synchronous machine,PMSM)过载能力、功率密度和转矩密度的提高,磁路饱和程度加深且变化剧烈,其非线性限制电流环的动态性能并且降低控制器的鲁棒性。该文提出一种PMSM增益调度电流控制策略,基于以微分电感为参数的非线性磁路饱和模型,设计小信号模型的线性内模控制器,根据电流调度变量插值成非线性控制,非线性耦合的消除保持非线性控制小信号化与线性内模控制的一致性,获得不同形式非线性积分的增益调度电流控制器。采用内模控制维持小信号系统相同的闭环特性,使得该非线性控制也具有相同的线性闭环特性,达到反馈线性化的效果,提高大范围工况的性能。通过仿真和实验验证控制器的有效性。

Due to the improvement of overload capacity,power density and torque density of permanent magnet synchronous machine(PMSM),magnetic saturation becomes serious and changes violently.Its nonlinearity limits the dynamic performance of the current loop and reduces the robustness of the controller.Therefore,a gain scheduling current control strategy of PMSM is proposed in this paper.Based on the nonlinear magnetic saturation model with differential inductance,the linear internal model controller of the small signal model is designed.The nonlinear controller is interpolated with respect to the scheduling variable.The elimination of nonlinear coupling remains the consistency between the small signal of nonlinear control and linear internal model control.Then,the gain scheduling current controllers with different forms of nonlinear integration are obtained.Internal model control is used to keep the same closed-loop characteristics of the small signal system,so that the nonlinear control also has the same linear closed-loop characteristics,which achieves the effect of feedback linearization and improves the performance under a wide range of operating conditions.The effectiveness of the controller is verified by simulation and experiment.