基于广义预测控制的永磁同步电机单环鲁棒控制

Single-loop Robust Control of Permanent Magnet Synchronous Motors Based on Generalized Predictive Control

为改进无人水下航行器(UUV)用永磁同步电机(PMSM)控制系统的动态性能和鲁棒性,简化控制系统结构,提出了一种基于广义预测控制的PMSM单环控制策略。该方法基于连续时间的PMSM模型,通过优化新型目标函数的非线性广义预测控制策略,设计了PMSM转速-电流单环控制器。同时采用电流约束策略,避免了电流过大对电机和逆变控制器造成的损害。该控制器控制结构简单,只需调节预测时域即可实现PMSM强鲁棒控制,工程上易于实现。仿真实验结果表明,所研究控制策略能有效抑制外部扰动和内部参数摄动的影响,实现了UUV用PMSM控制系统的快速动态响应和强鲁棒性。

To improve the dynamic performance and robustness of the control system of permanent magnet synchronousmotors(PMSMs)for unmanned undersea vehicles(UUVs)and simplify the structure of the control system,a single-loopcontrol strategy based on generalized predictive control(GPC)is proposed.A novel objective function is optimized to design asingle-loop speed-current PMSM controller based on the continuous-time PMSM model.Furthermore,a current-limitingstrategy is employed to avoid any damage to the motor and inverter controller caused by extremely high currents.Thecontroller has a simple structure.Further,robust PMSM control can be realized by only adjusting the prediction time domain;this is easy to implement in engineering applications.Simulation results show that the control strategy can effectively suppressthe influence of external disturbance and internal parameter perturbation,thus realizing a fast dynamic response and strongrobustness of the PMSM for UUVs.