基于分数阶滑模的多电机同步控制研究

发布时间：2018-03-14 12:24

本文选题：多电机同步控制　切入点：分数阶滑模控制　出处：《东北大学》2014年硕士论文　论文类型：学位论文

【摘要】：多电机同步控制是运动控制领域的研究热点之一,广泛应用于纺织、造纸、印刷、冶金、轧钢、机床加工等生产制造过程。由于多电机同步控制系统是一个高阶、时变、多变量、强耦合、非线性的复杂系统,控制性能越来越难以满足实际应用中不断提高的系统需求。为了提高多电机同步控制系统的动静态性能,多电机同步控制策略和同步控制方法的研究具有重要的理论意义和实用价值。针对多电机偏差耦合控制策略考虑误差信息量不足问题,设计了一种基于跟踪误差的最大最小及平均值的偏差耦合控制策略。建立了比整数阶更精确的分数阶永磁同步电动机(PMSM)数学模型。提出了分数二阶非奇异终端滑模控制算法。为了进一步改善多电机同步控制系统性能和增强抗干扰能力,提出了自抗扰控制技术与分数阶滑模控制相结合的复合控制策略,同时设计了基于干扰观测器或扩张状态观测器的分数阶滑模控制方案。本文主要研究内容如下：通过深入分析多电机非交叉耦合控制策略、交叉耦合控制策略及其各种改进型的优缺点,提出了一种基于跟踪误差的最大最小及平均值的改进型偏差耦合控制策略。仿真结果表明该控制策略能改善系统的动静态性能和提高鲁棒性。利用分数阶微积分理论建立了PMSM的分数阶数学模型,然后把分数阶微积分理论引入滑模变结构控制中,提出了分数二阶非奇异终端滑模控制方法,并根据分数阶李雅普诺夫稳定性理论证明了控制律的稳定性。对基于分数阶滑模的多电机位置同步控制进行了仿真实验,结果表明该方法能有效控制多电机实现位置同步。考虑到滑模控制易在平衡点附近产生抖振现象与自抗扰控制技术具有结构简单、不依赖对象模型、强鲁棒性等特点,采用自抗扰控制技术和分数阶滑模控制算法的分段控制策略,当系统状态远离平衡点时,采用滑模控制；当系统状态运动到平衡点附近时,采用自抗扰控制。同时,提出了一种用滑模控制代替自抗扰控制中非线性状态误差反馈环节的复合控制策略。仿真分析验证了两种控制策略的正确性和有效性。利用干扰观测器或扩张状态观测器来估计和补偿系统的总扰动,并采用分数二阶非奇异终端滑模控制器来解决多台PMSM位置同步问题。根据超扭曲算法设计了一种非线性干扰观测器,并证明了该观测器及基于观测器的分数阶控制律的稳定性。针对扩张状态观测器难以抑制量测噪声的缺点,设计了带有微分器的新型扩张状态观测器。仿真结果表明,基于干扰观测器或扩张状态观测器的分数阶滑模控制具有良好的动静态性能和强鲁棒性。
[Abstract]:Multi-motor synchronous control is one of the research hotspots in the field of motion control. It is widely used in textile, papermaking, printing, metallurgy, steel rolling, machine tool processing and other manufacturing processes. In order to improve the dynamic and dynamic performance of multi-motor synchronous control system, the control performance of multivariable, strongly coupled and nonlinear complex systems is becoming more and more difficult to meet the increasing system requirements in practical applications. The research of synchronous control strategy and synchronous control method for multi-motor has important theoretical significance and practical value. A deviation coupling control strategy based on maximum, minimum and average tracking error is designed. A mathematical model of fractional permanent magnet synchronous motor (PMSM) with more accuracy than integer order is established. A fractional second order nonsingular terminal slippage is proposed. In order to further improve the performance of multi-motor synchronous control system and enhance anti-jamming ability, A hybrid control strategy based on the combination of active disturbance rejection control and fractional sliding mode control is proposed. At the same time, a fractional sliding mode control scheme based on disturbance observer or extended state observer is designed. Cross-coupling control strategy and its advantages and disadvantages, An improved bias coupling control strategy based on the maximum, minimum and average tracking errors is proposed. The simulation results show that the proposed control strategy can improve the dynamic and dynamic performance and robustness of the system. The fractional calculus is used to improve the robustness of the system. The fractional order mathematical model of PMSM is established theoretically. Then the fractional calculus theory is introduced into sliding mode variable structure control, and a fractional second order nonsingular terminal sliding mode control method is proposed. The stability of the control law is proved according to the stability theory of fractional Lyapunov. The simulation experiment of multi-motor position synchronization control based on fractional sliding mode is carried out. The results show that this method can effectively control multi-motor position synchronization. Considering that sliding mode control is easy to generate buffeting near the equilibrium point and ADRC has the characteristics of simple structure, independent object model, strong robustness, etc. The piecewise control strategy of active disturbance rejection control and fractional sliding mode control algorithm is adopted. When the state of the system is far from the equilibrium point, sliding mode control is adopted. When the state of the system moves near the equilibrium point, the adaptive disturbance rejection control is adopted. At the same time, A hybrid control strategy using sliding mode control instead of nonlinear state error feedback in active disturbance rejection control is proposed. The correctness and effectiveness of the two control strategies are verified by simulation analysis. State observer to estimate and compensate the total disturbance of the system, A fractional second order nonsingular terminal sliding mode controller is used to solve the problem of multiple PMSM position synchronization, and a nonlinear disturbance observer is designed according to the hypertwisted algorithm. The stability of the observer and the fractional order control law based on the observer is proved. A new extended state observer with differentiator is designed to overcome the disadvantages of the extended state observer which is difficult to suppress the measurement noise. The simulation results show that, Fractional sliding mode control based on disturbance observer or extended state observer has good dynamic and dynamic performance and strong robustness.
【学位授予单位】：东北大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM921.5

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