同步器试验台机械转动惯量电模拟复合控制

Inertia Electrical Emulation Composite Control for Synchronizer Test Bench

针对同步器试验对转速稳定性的要求和机械飞轮模拟转动惯量的缺点,提出一种基于扰动观测技术和连续终端滑模的机械转动惯量电模拟复合控制。首先,将同步摩擦扭矩视为外部干扰,并考虑扭矩跟踪误差以及系统参数变化,建立驱动电机动力学模型;其次,根据实际电磁扭矩和转速应用广义比例积分观测器估计驱动电机受到的集总扰动;再次,基于连续终端滑模设计电机转速控制器,并根据转动惯量电模拟原理将估计扰动融入转速控制器形成复合控制,通过李雅普诺夫稳定性理论分析闭环系统的稳定性;仿真实验验证了所提方法的有效性。

To avoid the shortcomings of inertia emulated by the mechanical flywheel and meet the speed stability requirement of synchronizer test,inertia electrical emulation composite control based on disturbance observation technology and continuous terminal sliding mode was proposed.Firstly,the synchronous friction torque was regarded as external disturbance,and the torque tracking error and system parameter variation were considered to establish the motor dynamic model.Then,the generalized proportional-integral observer was used to estimate the total disturbance according to the actual electromagnetic torque and speed of the motor.Furthermore,the motor speed controller was designed according to the continuous terminal sliding mode control.Based on the principle of inertia electrical emulation,the disturbance was incorporated into the speed controller to form a composite control.The stability of the closed-loop system was analyzed according to the Lyapunov stability theory.The effectiveness of the proposed method was verified by speed tracking and synchronous friction torque disturbance simulation.