带扰动补偿的永磁同步电机鲁棒H∞控制

Robust H∞ Control of Permanent Magnet Synchronous Motor with Disturbance Compensation

为了提高永磁同步电机调速系统的抗干扰能力,提出了一种鲁棒H∞控制方法。首先,根据鲁棒H∞控制原理,提出了永磁同步电机H∞速度控制设计方法,并介绍了求解方法。设计加权函数时考虑了跟踪性能、干扰抑制、输出限制和模型不确定性。通过伯德图详细说明了性能加权函数对动态性能的影响,并给出了加权函数的设计方法。然后,在考虑参数不确定性和未建模动态的情况下,为进一步提高系统的抗干扰能力,通过Luenberger扰动观测器将扰动作为前馈补偿观测,并将其反馈到速度控制器中,以加速动态响应,增强对扰动的抑制能力。最后,通过试验对比了传统比例积分控制器、H∞速度控制器和所提的复合速度控制器,试验结果验证了所提复合速度控制器的有效性。

In order to improve the anti-interference ability of permanent magnet synchronous motor speed control system,a robust H∞control method is proposed.Firstly,according to the principle of robust H∞control,the design method of permanent magnet synchronous motor speed control is proposed,and the solution method is introduced.The tracking performance,disturbance suppression,output limitation and model uncertainty are considered when designing the weighting function.The influence of the performance weighting function on the dynamic performance is illustrated in detail by means of the Bode diagram,and the design method of the weighting function is given.Then,in order to further improve the disturbance rejection of the system by considering the parameter uncertainty and unmodeled dynamics,the disturbance is observed as a feedforward compensation through the Luenberger observer and feed back into the speed controller to accelerate the dynamic response and enhance the disturbance rejection.Finally,the traditional proportional-integral controller,H∞speed controller,and the proposed composite speed controller are compared by experiments,and the effectiveness of the proposed speed controller are verified by the experimental results.