永磁同步电机调速系统的多维泰勒网逆控制

Multi-dimensional Taylor network inverse control of speed variable system for permanent magnet synchronous motor

针对永磁同步电机(PMSM)的高性能控制问题,在充分考虑时变特性、不确定性以及测量噪声等随机因素的基础上,通过PMSM的逆系统将被控对象补偿成为具有线性传递关系的系统,提出一种基于改进自适应逆控制的控制方案.采用矢量控制的双闭环控制结构,将多维泰勒网逆控制方法引入速度环.首先,对PMSM数学模型的可逆性进行证明以解决非线性系统逆建模的存在性问题;然后,建立新颖的动态网络化控制器—–多维泰勒网(MTN),其具有结构简单、计算复杂度低的优点;最后,为了实现高精度的速度控制,将3个MTN分别作为实现系统建模的自适应模型辨识器、逆建模的自适应逆控制器和噪声干扰消除的非线性自适应滤波器,并将PMSM的动态响应控制和消除干扰的控制分为相对独立的过程进行,同时实现最优控制.仿真结果表明,所提出控制方案能够实现PMSM伺服系统精确的速度控制,具有良好的跟踪性能和较强的抗干扰能力.

Aiming at the high performance control problem of the permanent magnet synchronous motor(PMSM),with the full consideration of its uncertainty,time-varying characteristics,measurement noise and other stochastic factors,a control scheme based on improved adaptive inverse control is proposed to compensate the controlled object to be a system with linear transfer relation by using the inverse system of the PMSM.A double closed-loop control structure under vector control is adopted to introduce the inverse control method of the multidimensional Taylor network(MTN)into the velocity loop.Firstly,the invertibility of the PMSM mathematical model is proved to solve the existence problem of the inverse model of the nonlinear system.A novel and dynamic network controller,called the MTN,is then established with the advantages of simple structure and low computational complexity.After that,in order to achieve the high precision of speed control,three MTNs are used respectively as an adaptive model identifier for system modeling,an adaptive inverse controller for inverse modeling and a nonlinear adaptive filter for eliminating the noise disturbance to separate the control of the object dynamic response and disturbance cancellation into relatively independent processes.An optimal control can be realized at no cost of the other.Finally,the simulation results show that the proposed control scheme can realize accurate speed control of the PMSM servo system,with good tracking performance and strong anti-interference ability.