基于ESO的超局部无模型PMSM转速预测控制

许令亮; 陈桂明; 李乔扬

doi:10.13700/j.bh.1001-5965.2021.0085

基于ESO的超局部无模型PMSM转速预测控制

doi: 10.13700/j.bh.1001-5965.2021.0085

火箭军工程大学作战保障学院, 西安 710025

基金项目:

军内科研项目 20191C050239

详细信息

通讯作者:
陈桂明, E-mail: 792757066@qq.com

中图分类号: TM341
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- 被引次数: 0
出版历程
- 收稿日期: 2021-02-22
- 录用日期: 2021-07-03
- 网络出版日期: 2021-07-13
- 整期出版日期: 2022-11-20

Ultra-local model-free speed predictive control based on ESO for PMSM

College of Combat Support, Rocket Force University of Engineering, Xi'an 710025, China

Funds:

Military Scientific Research Projects 20191C050239

More Information

Corresponding author: CHEN Guiming, E-mail: 792757066@qq.com

摘要

摘要:
针对永磁同步电机(PMSM)由于参数变化和外界干扰导致控制性能下降的问题, 提出了一种基于扩展状态观测器(ESO)的超局部无模型转速预测控制(MFSPC)方法, 并解决了数字系统中的一拍延迟问题。该方法仅利用速度环的输入和输出, 不考虑电机参数, 避免了因电机参数变化导致的模型失配。针对传统MFSPC方法参数调整多、工作量大、输出脉动大、抖振明显、抗干扰性和鲁棒性差的问题, 建立了ESO, 实时监测系统的总扰动, 并进行前馈补偿。利用ESO产生的转速预测, 解决了数字控制系统中的一拍延时问题, 并基于频域分析, 整定控制参数, 提高控制性能。实验结果分析表明：所提方法有较强的抗干扰性和鲁棒性, 能够稳定跟踪额定转速, 有较快的动态响应。
- 永磁同步电机 /
- 超局部 /
- 无模型转速预测控制 /
- 模型失配 /
- 扩张状态观测器 /
- 鲁棒性
Abstract:
An ultra-local model-free speed predictive control (MFSPC) method based on an extended state observer (ESO) is proposed to address the control performance decrease of permanent magnet synchronous motor (PMSM) due to parameter changes and external disturbances, and to solve the one-step delay problem in digital systems. This method reduces the model mismatch caused by motor parameter changes, using only the input and output of speed loops without motor parameters. The ESO is established to overcome the problems of the traditional MFSPC method which adjusts many parameters with large workload and output pulsation, obvious chattering, and low anti-interference and robustness. The ESO monitors the total disturbance of the system in real time, and performs feedforward compensation. It also addresses the beat delay problem in the digital control system, using the generated speed prediction, and sets the control parameters to improve control performance based on frequency domain analysis. Experimental results show that the proposed method has strong anti-interference and robustness, can track the rated speed steadily, and has faster dynamic response.
- permanent magnet synchronous motor /
- ultra-local /
- model-free speed prediction control /
- model mismatch /
- extended state observer /
- robustness

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图 1 1 000 r/min和10 N·m条件下参数失配造成的误差影响

Figure 1. Effect of errors caused by mismatch parameters at1 000 r/min and 10 N·m

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图 2 基于MFSPC+ESO方法的PMSM驱动系统控制

Figure 2. PMSM drive system control based on MFSPC+ESO method

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图 3 基于ESO的MFSPC转速预测控制

Figure 3. Speed predictive control of MFSPC based on ESO

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图 4 PMSM实验平台配置

Figure 4. PMSM experimental platform configuration

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图 5 PMSM实验平台

Figure 5. PMSM experimental platform

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图 6 四种控制方法的反转性能对比

Figure 6. Comparison of reversal performance of four control methods

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图 7 四种控制方法的负载扰动性能对比

Figure 7. Comparison of load disturbance performance of four control methods

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图 8 额定负载下的转速响应对比

Figure 8. Comparison of speed response under rated load

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图 9 四种控制方法的参数变化性能对比

Figure 9. Comparison of parameter change of four control methods

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表 1 PMSM模型参数

Table 1. Parameters of PMSM model

参数	数值
极对数p	4
定子电阻R₀/Ω	1.84
电感L₀/mH	6.65
磁链Ψ_f0/Wb	0.32
摩擦系数B₀/(N·m·s)	0.008
转动惯量J₀/(kg·m²)	0.002 7

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表 2 速度反转特性

Table 2. Speed reversal characteristics

方法	转速超调/%	波动方差	回归时间/s
MFSPC+ESO	5.18	10.49	2.23
MFSPC+TSMC	17.5	12.51	2.36
MFSPC	36.05	13.01	2.29
PI	20.36	15.15	2.41

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表 3 速度响应特性

Table 3. Speed response characteristics

方法	超调/%			失调/%
方法	给定转速100 r/min	给定转速800 r/min	给定转速1 500 r/min	给定转速100 r/min	给定转速800 r/min	给定转速1 500 r/min
MFSPC+ESO	7.11	6.75	5.87	42.01	8.50	5.60
MFSPC+TSMC	34.01	26.38	17.40	16.11	15.88	13.21
MFSPC	41.15	45.07	24.04	9.09	5.19	12.83
PI	29.39	32.54	21.62	62.70	31.24	16.17

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表 4 四种控制方法实现复杂度比较

Table 4. Comparison of implementation complexity of four control methods

方法	电机参数	控制参数
PI	R₀, L₀, B, J，ψ_f0等	K_p, K_i
MFSPC		K_p，α，n_F
MFSPC+TSMC		α, σ₁，σ₂, μ₁, μ₂
MFSPC+ESO		α，ω₀

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