CAN-based Synchronized Motion Control for Induction Motors

A control area network （CAN） based multi-motor synchronized motion control system with an advanced synchronized control strategy is proposed. The strategy is to incorporate the adjacent cross-coupling control strategy into the sliding mode control architecture. As illustrated by the four-induction-motor-based experimental results, the multi-motor synchronized motion control system, via the CAN bus, has been successfully implemented. With the employment of the advanced synchronized motion control strategy, the synchronization performance can be significantly improved.

New Approach to Cluster Synchronization in Complex Dynamical Networks

In this paper, a distributed control strategy is proposed to make a complex dynamical network achieve cluster synchronization, which means that nodes in the same group achieve the same synchronization state, while nodes in different groups achieve different synchronization states. The local and global stability of the cluster synchronization state are analyzed. Moreover, simulation results verify the effectiveness of the new approach.

Development and Control Strategy of Subsea All-Electric Actuators

The development of subsea all-electric Christmas trees is an area of focus in the offshore oil industry worldwide.The main difficulties are associated with the development and control strategies for subsea all-electric actuators,which are the most criti-cal components of subsea Christmas trees.A single-motor-level fuzzy PID control with an integrated working condition detection mod-ule and a three-motor redundant-level deviation strategy with coupled joint synchronous control were proposed in this paper to real-ize the real time determination of algorithm parameters according to the working conditions,solve the rapid redistribution problems,and maintain the fast speed of the servo motor of the subsea all-electric tree valve actuator.A synchronous control electrical system was built,tested,and verified through simulation analysis.Test results show that the two redundant servo motors can still control the all-electric valve actuator and provide good synchronization control capabilities despite the failure of one servo motor,and the verti-cal and horizontal vibration values of the system are within reasonable ranges.The synchronous control strategy can be applied to the synchronous control problem of subsea all-electric production systems,which is of considerable importance for the development of subsea all-electric production systems.

Multi-motor Drive System Based on Adjacent Coupling Error Strategy

A new control strategy named adjacent coupling error strategy is proposed to multi-motor drive system. The adjacent coupling error control scheme is developed considering the tracking speed error in one motor and the synchronous error among adjacent motors simultaneously. In the strategy, due to non-linear effects of the two mentioned errors to the motion control of motor i, an adaptive fuzzy logic controller is designed to decide the control variable of the motor drive system. The multi-motor drive system is modeled and simulated by SIMULINK. The simulated researches show that the proposed strategy improves the synchronization, stabilization, and convergence of the multi-motor system.

An Advanced Control Strategy for Dual-Actuator Driving System in Full-Scale Fatigue Test of Wind Turbine Blades

A new dual-actuator fatigue loading system of wind turbine blades was designed.Compared with the traditional pendulum loading mode,the masses in this system only moved linearly along the loading direction to increase the exciting force.However,the two actuators and the blade constituted a complicated non-linear energy transferring system,which led to the non-synchronization of actuators.On-site test results showed that the virtual spindle synchronous strategy commonly used in synchronous control was undesirable and caused the instability of the blade’s amplitude eventually.A cross-coupled control strategy based on the active disturbance rejection algorithm was proposed.Firstly,a control system model was built according to the synchronization error and tracking error.Furthermore,based on arranging the transition process,estimating the system state and error feedback,and compensating disturbance,an active disturbance rejection controller was designed by adopting the optimal control function.Finally,on-site test results showed that the cross-coupled control strategy based on the active disturbance rejection algorithm could ensure the synchronization of two actuators.The maximum speed synchronization error of the two motors was less than 16 RPM,the displacement synchronization error of the two actuators was less than 0.25 mm and approaching zero after 4 seconds,and the peak value of vibration of the blade was less than 5 mm,which satisfied the fatigue test requirement.

Load Sharing Performance of the Main Drive System in the Shield Machine and Improvement of Control Method

Shield machine is the major technical equipment badly in need in national infrastructure construction. The service conditions of shield machine are extremely complex. The driving interface load fluctuation caused by geological environment changes and multi field coupling of stress field may lead into imbalance of redundant drive motors output torque in main driving system. Therefore, the shield machine driving synchronous control is one of the key technologies of shield machine. This paper is in view of the shield machine main driving synchronous control, achieving the system＇s adaptive load sharing. From the point of view of cutterhead load changes, nonlinear factors of mechanical transmission mechanism and the control system synchronization performance, the authors analyze the load sharing performance of shield machine main drive system in the event of load mutation. The paper proposes a data-driven synchronized control method applicable to the main drive system. The effectiveness of the method is verified through simulation and experimental methods. The new method can make the system synchronization error greatly reduced, thus it can effectively adapt to load mutation, and reduce shaft broken accident.

基于柔直控制的南方电网异步联网频率同步运行控制器设计与应用

电网分区异步运行将成为未来南方电网发展趋势,针对分区异步电网间频率失去了同步性和一致性问题,开展分区异步电网频率同步运行控制策略研究,提出了分区异步电网频率同步运行控制器结构,优化确定运行关键控制参数并通过仿真验证其有效性。鲁西柔直工程作为试点实施分区异步电网频率同步运行,现场实施效果表明该控制能够有效保证分区异步运行电网间实际运行中频率的一致性和同步性,且与电网AGC策略具有良好的适配性,实施中未出现两侧电网功率振荡和频率振荡发散情况,有效改善分区电网频率稳定性和提升分区电网间功率的灵活性支援性能,同时也实现全网调频资源的实时、自动共享,推动构建全网统一的调频辅助服务市场。

永磁直驱型风机海上风电送出系统不对称接地及甩负荷电磁暂态研究

为明确海上风电交流送出系统过电压的特征与水平,需考虑风电机组的故障穿越特性。该文结合永磁直驱风机变流器的控制原理,提出海上风电送出系统不对称接地过电压的解析计算方法。基于PSCAD对风电机组进行精确电磁暂态建模与故障电压穿越测试,以国内某500 kV大规模海上风电工程为背景,仿真计算送出系统不对称接地及甩负荷过电压。结果表明:系统不对称接地过电压大小与风机正负序控制策略有关;海缆电网侧甩负荷将产生持续百ms的1.3 pu以上的暂态过电压,风机过电压保护动作延时越长,暂态过电压越严重。实际海上风电工程计算需紧密联系风机控制保护策略及其参数,并综合关键设备耐压水平进行评估,通过风机控制策略优化可以降低系统过电压水平。

基于漏斗函数双电机伺服系统跟踪与同步控制

针对双电机驱动伺服系统具有未知非线性的问题,提出一种基于漏斗函数的跟踪与同步控制方案。首先,利用神经网络逼近和补偿复杂的非线性,在此基础上,引入滤波技术解决传统反步控制的“计算爆炸”问题,同时引入非光滑漏斗误差面确保系统的状态量被约束在预定义的漏斗边界内,结合改进的漏斗函数和反步设计技术设计了一种自适应量化漏斗跟踪控制方案。为了同时保证双电机的同步运行,同步控制器采用了平均偏差耦合策略,实现了双电机伺服系统的跟踪与同步控制。仿真结果表明,该方法可以实现对负载的跟踪以及双电机的同步。

一种新型变速异步化调相机及其控制策略研究

提出了一种新型异步化变速调相机,变速调相机由双馈电机与飞轮组成,转子侧控制与虚拟同步发电机(VSG)结合。VSG控制使得变速调相机拥有与同步调相机相似的无功补偿特性,其自身异步化的特点使得其在面对电网频率跌落时有更高的转速变化裕度。另外,通过对变速调相机运行特性的分析,对其控制策略进行了优化,提高了电网电压跌落时的转子电流稳定性与电网频率跌落时的转子转速稳定性。最后,在Matlab/Simulink平台进行了仿真验证与实验验证。结果表明,变速调相机与同步调相机在面对电网电压时的无功补偿特性相似,但能够在电网频率跌落时释放转子转速发挥有功补偿作用,具备多职性。

构网型直驱风机的小信号建模及动态频率支撑策略

针对传统构网型直驱风机在大扰动下的频率和功率振荡较大的问题,提出一种动态频率支撑策略。首先对构网型直驱风机进行了详细的小信号建模。其次,通过主导特征根轨迹分析有功频率控制以及交流电压控制环节中参数对频率变化特性的影响,进而提出一种灵活改变控制参数的动态频率支撑策略。最后,在Matlab/Simulink仿真平台上搭建仿真模型,验证了小信号建模的正确性和所提策略的有效性,表明所提策略能有效减小动态过程中的频率和功率振荡。

随机Lur’e时滞网络的指数同步与脉冲控制

本文研究了一类具有不对称耦合和时变时滞随机Lur’e动态网络的全局指数同步问题.为了使网络中的所有Lur’e系统达到同步,文章提出了一种实用的脉冲控制策略,利用平均脉冲间隔概念、Perron-Frobenius定理、比较原理、参数变分法和无参照系统策略,给出了保证网络实现全局指数同步的充分条件.基于脉冲信号既能促进网络群聚行为同时也可能阻碍网络同步这一事实,本文分别讨论了积极脉冲效应和消极脉冲效应作用下网络实现同步的判定方法,同时给出了不同脉冲效应作用下网络的收敛速度.提供了数值仿真证明主要结果和控制策略的有效性.

潜液式液化天然气泵用低温永磁同步电机研究现状综述

低温永磁同步电机具有高效率、高功率密度和运行稳定的优点,正在逐步替代低温感应电机,成为液化天然气泵用低温电机未来的发展趋势,但仍有一些关键技术问题有待解决。该文首先详细阐述了低温环境下永磁同步电机关键材料的电磁特性和机械特性的变化规律,明确了不同材料的选取原则。在此基础上,重点总结了低温永磁同步电机的设计方法、拓扑结构、多物理场耦合分析及控制策略等关键技术。然后,介绍了现有低温电机的制造工艺与测试方法,指出当前低温电机测试所面临的挑战和不足。最后,探讨了低温永磁同步电机领域亟待解决的关键技术问题,并对低温永磁同步电机的研究方向和发展趋势进行了展望。

虚拟同步机控制策略下的STATCOM相间电容电压平衡方法研究

针对基于直挂式级联H桥拓扑结构的静止同步补偿器在运行时产生的相间电容电压不平衡的问题,本文在虚拟同步机的控制策略基础上提出了一种平衡相间电容电压的方法。虚拟同步机具有响应速度快的优点,但用于静止同步补偿器来作无功补偿时会产生相间电容电压不平衡的问题。因此本文首先引入电容电压平均值来完成虚拟同步机的快速并网,其次将虚拟同步机算法的无功调节分为3部分来实现分相无功补偿,再在电压合成前引入电容电压平均值作反馈,以实现相间电容电压平衡。最后在Matlab/Simulink环境下搭建仿真模型,验证了所提控制策略能有效解决相间电容电压不平衡问题,并且仿真结果表明所提控制策略具有良好的动态响应特性。

谐波注入法降低永磁同步电机的转矩脉动

为了抑制永磁同步电机的转矩脉动,提高电机运行的稳定性,基于多种软件联合仿真的方法,提出了多同步旋转坐标系的主动谐波注入法来提高永磁同步电机运行的稳定性的方案。首先,建立了永磁同步电机的谐波数学模型,对各阶次谐波下的谐波状态方程进行完善;其次,基于现代控制理论的相关理论,通过采用PI控制器来追踪高次谐波的电流反馈环的方法,提取与注入了高次谐波;最后,采用多个软件联合仿真的方法,对永磁同步电机在整个控制系统的性能进行了分析。分析结果表明,通过反馈与前馈高次谐波注入,使得电机的转矩脉动从12.8%降低到了3.3%,从而说明所提出的方案达到了抑制永磁同步电机的转矩脉动的目的。

基于EKF的IPMSM无位置传感器控制估计误差补偿方法

在基于扩展卡尔曼滤波(EKF)法的内置式永磁同步电机无位置传感器控制系统中,电机转速和转子位置的准确估计十分重要。针对相电流增益误差导致的转速和转子位置估计精度下降的问题,提出一种位置估计误差补偿方法。首先,理论推导得出,在扩展卡尔曼滤波器估算过程中,相电流增益误差会使估计转速及转子位置以二倍工频的频率振荡。其次,设计了一种新型结构扩展卡尔曼滤波观测器,即在传统扩展卡尔曼滤波观测器的基础上增加增益误差系数求解环节,以此来降低相电流增益误差引起的估计转速及转子位置的脉动,提高了估计精度。最后,仿真和试验验证了所提补偿方法的可行性。

基于改进麻雀搜索算法分数阶PI的PMSM调速策略

永磁同步电机调速系统采用传统比例积分双闭环控制结构存在抗扰性能差与响应速度慢的问题。为此,文中在建立PMSM数学模型和分析传统PI参数设计方法的基础上,提出一种基于改进麻雀搜索算法分数阶比例积分的PMSM调速优化策略,通过在常规SSA中引入佳点集初始化策略和黄金正弦更新策略,解决了SSA易陷入局部最优的问题,提高了收敛速度和精度,以进一步改善PMSM调速系统的响应性能。最后通过MATLAB仿真对比结果可知,所述ISSA-FOPI调速改进策略在4种工况下具有最短的调节时间分别为1.2、0.9、9.9与12.1 ms,和最小的超调量分别为0.16%、0.16%、0.05%与0.6%,这充分体现了所述策略的有效性与优越性。

基于脉振高频注入和模糊超螺旋滑膜观测器的永磁同步电机全速域无感控制

为进一步满足永磁同步电机(PMSM)高精度和高动态响应速度的控制要求,提出一种基于脉振高频电压注入法与模糊超螺旋滑膜观测器法的永磁同步电机全速域无传感器控制策略。基于PMSM数学模型,将电机旋转速度分为零低速域与中高速域,在零低速域内采用脉振高频电压注入法,中高速域采用超螺旋滑模观测器法,提出一种可在不同转子转速和位置估计方法之间平滑切换的基于加权切换的方法,最终实现PMSM的全速域无感控制。仿真结果表明,提出的无感控制策略提高了各个速域内转子转速和位置的估计精度,高低速运行切换平顺,动态响应速度较高。

汽车装配生产线电动伺服螺纹拧紧设备发展现状

中国汽车销量已经连续14年居世界第一,螺纹连接为汽车零部件之间的主要连接形式,螺纹拧紧设备市场需求巨大。目前国内汽车生产线上的拧紧设备主要依靠进口,造价高,已经成为卡脖子问题。为此文章针对汽车生产线的电动伺服螺纹拧紧设备的关键技术展开论述:对比了交流永磁伺服同步电机的控制策略;论述了拧紧设备的减速机构方案;对比了不同的扭矩检测方案;最后分析了国内外现有的电动伺服螺纹拧紧设备的特点。通过对电动伺服螺纹拧紧设备关键技术的研究分析,指出了现阶段电动伺服拧紧设备上不同技术方案的优缺点及发展趋势,为国内电动伺服螺纹拧紧设备的研究与开发提供了思路。

永磁同步电机无位置传感器控制策略概述

系统地梳理了永磁同步电机无位置传感器控制技术的发展动态,剖析了中高速状态下扩展反电势法、滑膜观测器法、龙伯格观测器法等不同技术的数学模型与结构框图,分析了零低速下脉振高频信号注入法、低频电流注入法等多种策略的向量图原理,揭示并对比了各类永磁同步电机无传感器控制技术各自的优点与不足,分析相应的适用场合,并前瞻性地指出了未来研究中可能聚焦的议题。