电子测量与仪器学报

兰永红,黄奇卉,颜渐德.基于干扰观测器的永磁同步电机反推控制[J].电子测量与仪器学报,2017,31(9):1524-1531

基于干扰观测器的永磁同步电机反推控制

Disturbance observer based backstepping control for PMSM

DOI：10.13382/j.jemi.2017.09.025

中文关键词: 永磁同步电机干扰观测器反推控制 Lyapunov稳定性理论

英文关键词:PMSM disturbance observer backstepping control Lyapunov stability theory

基金项目:国家自然科学基金 (61573298)、湖南省教育厅优秀青年项目(15B238) 资助

作者	单位
兰永红	湘潭大学信息工程学院湘潭411105
黄奇卉	湘潭大学信息工程学院湘潭411105
颜渐德	湖南大学电气工程学院长沙410082

Author	Institution
Lan Yonghong	School of Information Engineering, Xiangtan University, Xiangtan 411105, China
Huang Qihui	School of Information Engineering, Xiangtan University, Xiangtan 411105, China
Yan Jiande	School of Electrical Engineering, Hunan University, Changsha 410082, China

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中文摘要:

为了改善具有外源干扰的永磁同步电机(PMSM)调速控制系统的控制性能，提出一种基于干扰观测器(DOB)的反推控制调速策略。首先，针对来源于PMSM外部系统的动态干扰，利用系统状态变量构造干扰观测器，并将DOB的设计问题转化为系统误差的稳定性问题。进一步，利用Lyapunov稳定性理论，获得基于线性矩阵不等式的DOB的存在条件和设计方法。然后，在实时重构干扰的基础上，采用反推控制策略来设计系统控制器，使系统具有良好的速度跟踪、转矩响应及干扰抑制性能。最后，通过MATLAB仿真和实验验证系统设计的有效性和可行性。仿真表明，与传统的PID控制相比，当设定速度为500 r/min，电机起动直至达到稳定状态所需时间从0.025缩短为0.008 s，转速峰值从680降至520 r/min。通过基于DSP的实验测试表明，所提出的控制策略响应速度快、超调量小、稳态精度高，能够有效抑制负载干扰。

英文摘要:

In order to improve the control performance of permanent magnet synchronous motor (PMSM) with exogenous disturbance, a disturbance observer (DOB) based backstepping control strategy for speed regulation is proposed in this paper. First, aiming at the dynamic disturbance originated from the external system of PMSM, a disturbance observer is constructed by using system state variables. The design problem of DOB is transformed into the stability problem of system error. Furthermore, based on Lyapunov stability theory, the existence condition based on linear matrix inequality and design method of DOB are obtained. Next, on the base of real time reconstruction of the dynamic disturbance, a backstepping control strategy is designed, which makes the system has good performance of speed tracking, torque response and disturbance rejection. Finally, the effectiveness and feasibility of the designed system are verified by Matlab simulation and experiment results. The simulation results show that when the setting speed is 500 r/min, the time required for the motor starting to reach the steady state is shortened from 0.025 s to 0.008 s, and the peak speed of the motor is reduced from 680 r/min to 520 r/min compared with the traditional PID control. The DSP based experimental results show that the proposed control strategy has the advantages of fast response, small overshoot, high steady state accuracy, and can effectively reject the load disturbance.

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