基于间接自适应鲁棒的永磁同步电机电流控制器设计.PDFVIP

第34 卷第3 期 控制 理 论 与 应 用 Vol. 34 No. 3 2017 年3 月 Control Theory Applications Mar. 2017 DOI: 10.7641/CTA.2017.60558 基基基于于于间间间接接接自自自适适适应应应鲁鲁鲁棒棒棒的的的永永永磁磁磁同同同步步步电电电机机机电电电流流流控控控制制制器器器设设设计计计 陶瑞超, 马 杰, 赵 辉 (哈尔滨工业大学航天学院, 黑龙江哈尔滨150080) 摘要: 针对永磁同步电机(PMSM) 电流环非理想反电势的抑制问题, 本文提出一种基于鲁棒最小二乘(RRLS) 自适 应律的间接自适应鲁棒控制(IARC)方法. 该控制方法基于自适应鲁棒控制(ARC)理论, 根据电机状态方程构造最小 二乘型自适应律, 加入修正因子增强自适应律对系统中扰动的鲁棒性. 本文理论证明了该方法的稳定性. 通过建立 含有非理想反电势的电机模型, 设计IARC 电流控制器, 并分析说明IARC具有比直接ARC更好的输出跟踪性能和扰 动抑制能力. 最后, 通过仿真和实验验证了该方法的有效性. 关键词: 参数辨识; 鲁棒控制; 永磁同步电机; 电流控制 中图分类号: TP273 文献标识码: A Current controller design of permanent magnet synchronous motor based on indirect adaptive robust control TAO Rui-chao , MA Jie, ZHAO Hui (School of Astronautics, Harbin Institute of Technology, Harbin Heilongjiang 150080, China) Abstract: This paper addresses the problem of non-ideal back emf minimization in permanent magnet synchronous motor (PMSM) and proposes an indirect adaptive robust control (IARC) with the robust recursive least square (RRLS) adaptation law. Based on the adaptive robust control (ARC), the least square adaptive law is synthesized in accordance with the motor model and then a correction factor is added to enhance the robustness of the adaptation law. Therefore, a better estimation of non-ideal back emf can be obtained with IARC. The stability of the system with the proposed controller is proved. Based on the PMSM model with non-ideal back emf, the current controller designed by IARC holds the better performance of tracking error a