基于观测器的永磁同步电机鲁棒稳定性分析与控制器设计

发布时间：2018-05-07 22:09

本文选题：永磁同步电机 + LMI　；参考：《华南理工大学》2014年博士论文

【摘要】：永磁同步电机(PMSM)以其结构简单、高功率密度、高效可靠、灵活的控制方式、大扭矩等特点,在电力传动、伺服驱动、电动汽车、新能源风力发电、机器人等方面获得了广泛应用。研究、分析、设计高性能的永磁同步电机控制系统具有重要的现实意义和应用价值。然而PMSM存在着诸如定子电流、电磁转矩、转子磁链的耦合,系统饱和及退磁现象、参数摄动和外部扰动、混沌运动等诸多不利因素,直接导致控制系统的静动态性能下降。本论文在综述PMSM分析与控制研究现状的基础上,对PMSM控制系统的分析与设计进行了较为深入的研究,以期进一步揭示PMSM的性质,为PMSM的分析与设计提供一种新的思路和途径。主要研究工作和创新点如下:(1)针对PMSM不确定系统,提出系统鲁棒稳定与镇定的充分条件。深入分析不同坐标系下PMSM数学模型的基础上,首先针对PMSM系统数参数摄动和外部扰动的情形,获得Laplace变换的解析解。然后,利用Gronwall-Bellman引理获得系统零解渐近稳定的充分条件。进一步,基于Lyapunov稳定性理论,利用矩阵代数变换获得基于线性矩阵不等式(LMI)稳定性条件。最后,基于以上稳定性条件,获得PMSM不确定系统鲁棒状态反馈控制器设计方法。(2)针对PMSM系统,提出PMSM系统基于观测器的状态反馈鲁棒控制方法。考虑参数不确定性的情形下,首先设计一种全维观测器,应用Lyapnov稳定性理论获得闭环系统的稳定性条件。然后借助矩阵奇异值分解技巧,将稳定性条件转化为易于求解的LMI条件。进一步根据稳定性条件,获得永磁同步电机的观测器-反馈控制器,实现电机速度跟踪控制。(3)针对永磁同步风力发电机(PMSG)系统,首先应用逆系统控制理论和内模控制方法,实现永磁同步风力发电系统混沌控制。然后针对PMSG不确定故障模型,设计收敛于原系统的全维和降维故障观测器。进一步,提出基于故障观测器的PMSG系统执行器故障检测方法和故障重构的数值算法。(4)针对PMSM系统速度跟踪问题,首先利用反推方法设计能准确跟踪永磁同步电机转速和电流的反推控制器。然后考虑到状态的不可测,基于Lyaponov稳定性定理设计滑模观测器。利用状态观测器获得的电机状态估计,将估计状态应用于反推控制器,实现对PMSM系统踪控制。最后,分析并建立了PMSM系统仅极对数已知的多个系数未知的不确定性模型,考虑参数不确定性的情形下,设计自适应反推控制器,实现对PMSM系统的高精度控制。
[Abstract]:PMSM (permanent Magnet synchronous Motor) is characterized by its simple structure, high power density, high efficiency and reliability, flexible control mode, large torque, etc., in electric drive, servo drive, electric vehicle, new energy wind power generation, etc. Robots have been widely used in many fields. The research, analysis and design of high performance permanent magnet synchronous motor control system have important practical significance and application value. However, there are many unfavorable factors in PMSM, such as stator current, electromagnetic torque, rotor flux coupling, system saturation and demagnetization, parameter perturbation and external disturbance, chaotic motion and so on, which directly lead to the degradation of static and dynamic performance of the control system. On the basis of summarizing the research status of PMSM analysis and control, this paper makes a deep research on the analysis and design of PMSM control system, in order to further reveal the nature of PMSM, and provide a new way for the analysis and design of PMSM. The main research and innovations are as follows: (1) for PMSM uncertain systems, sufficient conditions for robust stability and stabilization are proposed. Based on the analysis of PMSM mathematical models in different coordinate systems, the analytical solution of Laplace transform is obtained for the case of the perturbation of the number parameters and the external disturbances of the PMSM system. Then, the sufficient conditions for the asymptotic stability of the zero solution of the system are obtained by using the Gronwall-Bellman Lemma. Furthermore, based on Lyapunov stability theory, the stability conditions based on linear matrix inequalities (LMI) are obtained by matrix algebraic transformation. Finally, based on the above stability conditions, a robust state feedback controller design method for PMSM uncertain systems is obtained. (2) for PMSM systems, an observer based robust state feedback control method for PMSM systems is proposed. In the case of parameter uncertainty, a full-order observer is first designed, and the stability conditions of the closed-loop system are obtained by using Lyapnov stability theory. Then the stability condition is transformed into the LMI condition which is easy to solve with the help of matrix singular value decomposition technique. Furthermore, according to the stability condition, the observer feedback controller of PMSM is obtained, and the speed tracking control of PMSG3 is realized. Firstly, the inverse system control theory and the internal model control method are applied to the PMSG system. The chaos control of permanent magnet synchronous wind power generation system is realized. Then, aiming at the PMSG uncertain fault model, a full-dimension reduced-order fault observer converging to the original system is designed. Furthermore, a fault detection method for PMSG system based on fault observer and a numerical algorithm for fault reconstruction are proposed. Firstly, a backstepping controller is designed to track the speed and current of PMSM accurately. Then considering the unmeasurable state, the sliding mode observer is designed based on Lyaponov stability theorem. The state estimation of the motor obtained by the state observer is applied to the backstepping controller to realize the tracer control of the PMSM system. Finally, several uncertain models with unknown coefficients are analyzed and established for PMSM system with only the extremely logarithmic known. In the case of parameter uncertainty, an adaptive backstepping controller is designed to control the PMSM system with high precision.
【学位授予单位】：华南理工大学
【学位级别】：博士
【学位授予年份】：2014
【分类号】：TM341

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