Model predictive current control of asynchronous motor in rolling mill based on sliding mode theory
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摘要:
小型热连轧机异步传动电机具有生产效率高、操作简单等特点，但由于其经常处于高温、高压、粉尘等恶劣的工作环境中，对控制器的抗干扰性要求较高。针对小型热连轧机异步传动电机，结合滑模控制理论和模型预测控制，运用自适应滑模控制器(ASMC)作为转速外环控制器，且运用全阶滑模磁链观测器(SMRFO)观测并计算转子磁链，设计控制系统。仿真结果表明：该系统能够有效地控制小型热连轧机异步传动电机，相较于传统的模型预测电流控制系统，其响应速度和精度得到显著提升；当电机负载转矩突变时，该系统能够快速重新追踪给定速度，进一步提升抗干扰能力。
Abstract:The asynchronous drive motor of small-scale hot-rolling mills has the characteristics of high production efficiency and straightforward operation. However, due to its often harsh working environment with high temperature, high pressure, and dust, the performance requirements for the controller are higher. To use an adaptive sliding mode controller (ASMC) as the outer speed control loop and to calculate and observe the rotor flux via a full-order sliding mode flux observer (SMRFO), this article focuses on the asynchronous drive motor of small-scale hot-rolling mills. Sliding mode control theory and model predictive control are combined in this design process. According to simulation studies, this system may considerably increase response speed and accuracy over conventional model predictive current control systems while also efficiently controlling the asynchronous drive motor of small-scale hot-rolling mills. The system's capacity to promptly retrace the specified speed in the event of abrupt variations in the motor load torque enhances its anti-interference performance.
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图 6 ASMC-MPCC负载转矩恒定仿真结果
Figure 6. Simulation results of constant load torque for ASMC-MPCC
图 8 ASMC-MPCC负载转矩突变仿真结果
Figure 8. Simulation results of sudden load torque changes in ASMC-MPCC
图 9 ASMC-SMRFO-MPCC负载转矩突变仿真结果
Figure 9. Simulation results of load torque sudden changes in ASMC-SMRFO-MPCC
表 1 开关状态和电压矢量对应
Table 1. Switch state and voltage vector correspondence table
电压 ${S_a}{S_b}{S_c}$ $|{{\boldsymbol{u}}_{\rm s}}| = {u_{{\mathrm{s}}\alpha }} + {\mathrm{j}}{u_{{\mathrm{s}}\beta }}$ ${{\boldsymbol{u}}_0}$ 000 0 ${{\boldsymbol{u}}_1}$ 001 $\dfrac{2}{3}{V_{\rm{dc}}}$ ${{\boldsymbol{u}}_2}$ 010 $\dfrac{1}{3}{V_{\rm{dc}}} + {\mathrm{j}}\dfrac{{\sqrt 3 }}{3}{V_{\rm{dc}}}$ ${{\boldsymbol{u}}_3}$ 011 $ - \dfrac{1}{3}{V_{\rm{dc}}} + {\mathrm{j}}\dfrac{{\sqrt 3 }}{3}{V_{\rm{dc}}}$ ${{\boldsymbol{u}}_4}$ 100 $ - \dfrac{2}{3}{V_{\rm{dc}}}$ ${{\boldsymbol{u}}_5}$ 101 $ - \dfrac{1}{3}{V_{\rm{dc}}} - {\mathrm{j}}\dfrac{{\sqrt 3 }}{3}{V_{\rm{dc}}}$ ${{\boldsymbol{u}}_6}$ 110 $\dfrac{1}{3}{V_{\rm{dc}}} - {\mathrm{j}}\dfrac{{\sqrt 3 }}{3}{V_{\rm{dc}}}$ ${{\boldsymbol{u}}_7}$ 111 0 
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表 2 热连轧机异步传动电机参数
Table 2. Parameters of asynchronous drive motor for hot rolling mill
参数 数值 参数 数值 功率/kW 12 定子电阻/$\Omega $ 1.2 额定电压/V 380 转子电阻/$\Omega $ 1 额定频率/Hz 50 定子电感/H 0.175 转动惯量/(kg·m2) 0.062 转子电感/H 0.175 极对数 1 互感/H 0.17
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