考虑时滞的涡簧储能用永磁同步电机反推控制

Backstepping control of permanent magnet synchronous machine for spiral spring energy storage considering time delay

针对采样、通信等造成的时滞现象弱化涡簧储能系统运行性能的问题,设计了考虑时滞的涡簧储能用永磁同步电机反推控制方法。首先在dq0坐标系下建立考虑电流延时的永磁同步电机数学模型;在此基础上,采用Lyapunov-Krasovskii理论设计含有时滞的Lyapunov函数,并结合反推控制方法,推导出永磁同步电机时滞反推控制器,以消除时滞对系统的影响,并保证系统闭环稳定性。仿真和实验结果表明,随着时滞的增加,系统控制响应偏差和波动影响也变大,甚至有可能导致系统失去稳定;与常规反推控制器相比,对于常时滞和变时滞情形,考虑时滞的反推控制器下永磁同步电机的速度和电流均能更准确跟踪各自的参考值,同时响应速度更快、且波动更小,极大改善了时滞对于系统运行性能的影响。

To mitigate the impact of time delays caused by sampling and communication on the performance of a spring energy storage system,a backstepping control method for spring energy storage using a permanent magnet synchronous motor(PMSM)that accounts for time delays was proposed.Initially,a mathematical model of the PMSM considering current delay was established in the dq0 coordinate system.Subsequently,a Lyapunov-Krasovskii theory-based Lyapunov function with time delay was designed,and a backstepping control method was integrated to derive a time-delay backstepping controller for the PMSM.This controller aims to eliminate the influence of time delays on the system and ensure the closedloop stability.Simulation and experimental results demonstrate that as the time delay increases,the control response deviation and fluctuation impact also become larger,potentially leading to system instability.Compared to conventional backstepping controllers,the time-delay-considering backstepping controller exhibits more accurate tracking of the PMSM’s speed and current reference values under both constant and variable time delays.Additionally,it offers faster response speeds and reduced fluctuations,significantly improving the impact of time delays on system performance.