CN101958685B - Nonlinear inverse decoupling controller for bearingless synchronous reluctance motor and construction method thereof - Google Patents
Nonlinear inverse decoupling controller for bearingless synchronous reluctance motor and construction method thereof Download PDFInfo
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Abstract
The invention discloses a nonlinear inverse decoupling controller for a bearingless synchronous reluctance motor and a construction method thereof, and is suitable for high-performance decoupling control of the bearingless synchronous reluctance motor. Two Park inverters, two Clark inverters and two current hysteresis PWM inverters form two expanded current hysteresis PWM inverters together; the two expanded current hysteresis PWM inverters and a controlled bearingless synchronous reluctance motor are taken as a whole to form a compound controlled object; an alpha-order inverse system is connected in series before the compound controlled object so as to compound a pseudo linear system consisting of a speed subsystem and two position subsystems; a linear close-loop controller is designed for the pseudo linear system according to a linear system design method; and finally the linear close-loop controller, the alpha-order inverse system, and the expanded current hysteresis PWM inverters together form the nonlinear inverse decoupling controller for nonlinear dynamic decoupling control of the bearingless synchronous reluctance motor.
Description
Technical field
The present invention relates to the building method of a kind of bearingless synchronous reluctance motor nonlinear inverse decoupling controller and this decoupling controller, be applicable to the high performance control of bearingless synchronous reluctance motor.Bearingless synchronous reluctance motor is with a wide range of applications at special electric transmission fields such as electrical spindle for machine tool, turbomolecular pump, centrifuge, compressor, dynamo-electric energy storage, Aero-Space, belongs to the technical field of Electric Drive control appliance.
Background technology
Bearingless synchronous reluctance motor has satisfied modern industry to high rotating speed, unlubricated, the requirement of not having the high-performance drive motors of friction, freedom from repairs, and it is a kind of magnetic bearing premium properties that both had, have both the New-type electric machine of synchronous magnetic resistance motor characteristics again.Compare with traditional bearing-free motor, bearingless synchronous reluctance motor has many advantages: omitted permanent magnet on the rotor, also do not had excitation winding; Simple in structure; Reliable, cost is low, also can realize very high salient pole ratio because of it; Thereby have advantages such as high torque density, fast dynamic response, low torque ripple, low-loss, High Power Factor simultaneously, be fit to more at a high speed and the high-precision applications field.
Bearingless synchronous reluctance motor is the multi-input multi-output system of non-linear a, close coupling.When bearingless synchronous reluctance motor is realized suspension operation in drive load; Existence because of torque current component; Between render electrical magnetic torque and the radial suspension force and radial suspension force from two vertical direction, there being coupling, the fluctuation of electromagnetic torque will cause the unstability of The whole control system.Therefore, if will realize rotor stable suspersion and operation, must realize between electromagnetic torque and the radial suspension force and level, vertical suspension power between dynamic Decoupling Control of Load Torque.
The particularity decision of bearingless synchronous reluctance motor control its can't be as not having bearing asynchronous machine and bearing-free permanent magnet synchronous motor, control based on field orientation and to carry out the correlation formula conversion and can realize full decoupled between above-mentioned variable.Adopt the method that is connected in series the feedforward compensation device in the modern control theory can realize the decoupling zero of control system, influence but the parameter in its decoupling compensator is subject to magnetic saturation.And through simplifying approximate processing; Online table look-up and method such as real-time parameter detection can to reduce magnetic full and reduce to be coupled between radial suspension force and the torque; Yet above these decoupling methods can only be realized the static decoupling between electromagnetic torque and the radial suspension force, do not realize the dynamic decoupling on the complete meaning.For from solving the difficult problem of bearingless synchronous reluctance motor Multivariable Decoupling Control in essence; Guarantee simultaneously each item control performance index of bearingless synchronous reluctance motor again; Like dynamic responding speed and steady-state tracking precision, need to adopt new control technology and new control method.
Domestic existing related patent U.S. Patent No.: number of patent application 200610085347.6, name is called: the building method of bearingless synchronous reluctance motor feedforward compensation controller, this invention is carried out decoupling zero control through making up decoupling compensator to bearingless synchronous reluctance motor.The inversion model that the present invention adopts method of inverse to make up compound controlling object becomes pseudo-linear system with the controlling object decoupling zero, on inferior basis, adopts the lineary system theory CONTROLLER DESIGN, realizes the decoupling zero control to bearingless synchronous reluctance motor.
Summary of the invention
The purpose of this invention is to provide a kind of both can realize between electromagnetic torque and the radial suspension force and radial suspension force from decoupling zero on two vertical direction control; Can obtain good each item control performance index again, like the bearingless synchronous reluctance motor nonlinear inverse decoupling controller and the building method thereof of the dynamic and static regulating characteristics in rotor radial position and torque, speed regulation performance.Make bearingless synchronous reluctance motor at high speed or numerous special electric transmission fields such as ultrahigh speed Digit Control Machine Tool, canned pump, semi-conductor industry, Aero-Space, chemical engineering industry, life science and bioengineering; Particularly contactless, need not lubricated and do not have characteristics such as wearing and tearing, the special occasions electric drive systems such as transmission that are used for vacuum technique, pure clean chamber and sterile workshop and Korrosionsmedium or very pure medium are used widely.
The technical scheme that realizes goal of the invention of the present invention is: bearingless synchronous reluctance motor nonlinear inverse decoupling controller; The current hysteresis ring PWM inverter that comprises linear closed-loop controller, α rank inverse system, the first and second two expansions; The output signal of the current hysteresis ring PWM inverter of said the first and second two expansions is input to bearingless synchronous reluctance motor; Bearingless synchronous reluctance motor output speed amount ω and radial displacement x, y, the current hysteresis ring PWM inverter of bearingless synchronous reluctance motor and two expansions is formed composite controlled object; Said closed loop controller is with given rotating speed amount ω
*With the difference of output speed amount ω, and given radial displacement x
*, y
*With the difference of outputting radial displacement x, y be input signal, the output speed controlled quentity controlled variable
With the radial displacement controlled quentity controlled variable
The inverse system to the α rank, torque winding current component reference value on the q axle of α rank inverse system output
The reference value of radial suspension force winding current component on x and y axle
With
With given torque winding current component reference value on the d axle
Be input to the current hysteresis ring PWM inverter of two expansions together.
Said linear closed-loop controller is made up of a rotational speed governor and first, second two positioners, and the input signal of rotational speed governor is bearingless synchronous reluctance motor given rotating speed amount ω
*With the difference of output speed amount ω, the output speed controlled quentity controlled variable
The inverse system to the α rank, the input signal of primary importance controller are the given radial displacement x of bearingless synchronous reluctance motor
*With the difference of outputting radial displacement x, outputting radial displacement controlled quentity controlled variable
The inverse system to the α rank, the input signal of second place controller are the given radial displacement y of bearingless synchronous reluctance motor
*With the difference of outputting radial displacement y, outputting radial displacement controlled quentity controlled variable
The inverse system to the α rank.
In the said composite controlled object; Said bearingless synchronous reluctance motor is made up of torque subsystem and suspending power subsystem; The current hysteresis ring PWM inverter of said first, second expansion is connected to form by Park inverse transformation, Clark inverse transformation and current hysteresis ring PWM inverter respectively successively; The current hysteresis ring PWM inverter and the torque subsystem of first expansion are formed first composite controlled object, and the current hysteresis ring PWM inverter and the suspending power subsystem of second expansion are formed second composite controlled object; Said α rank inverse systems output torque winding current component reference value on the q axle
and given torque winding on the d axle current component reference value
to the first current hysteresis ring PWM inverter expanded; α rank inverse system outputting radial suspending power winding is at the current hysteresis ring PWM inverter of reference value
to second expansion of axle x, the last current component of y; The current hysteresis ring PWM inverter (2) of first expansion is that
is input variable with torque winding current component reference value
and excitation current component on the q axle; The torque winding of output current signal to torque subsystem, the suspending windings of current hysteresis ring PWM inverter output current signal to the suspending power subsystem of second expansion.In the inverse system of said α rank, the desired output y=[y of composite controlled object
1y
2y
3]
T=[xyw]
TThe α order derivative
As the input of α rank inverse system, α rank inverse system output variable
The control composite controlled object, α rank inverse system and composite controlled object are formed pseudo-linear system.
Realize that another goal of the invention technical scheme of the present invention is:
The building method of bearingless synchronous reluctance motor nonlinear inverse decoupling controller, this method comprises the following steps:
1. the current hysteresis ring PWM inverter of bearingless synchronous reluctance motor and two expansions is made as a whole composition composite controlled object, the controlled volume of composite controlled object is motor speed and rotor radial displacement;
2. adopt the inverse system theory to construct the α rank inverse system of composite controlled object;
3. α rank inverse system is placed before the composite controlled object, α rank inverse system and composite controlled object are formed pseudo-linear system, thereby realize decoupling zero control and the decoupling zero control of radial suspension force on two vertical direction between radial suspension force and the electromagnetic torque; The pseudo-linear system equivalence is the integral linearity subsystem of three decoupling zeros, is respectively the linear subsystem of a speed single order integral form and the linear subsystem of two position second order integral forms;
4. adopt the method for designing of linear system to design a rotational speed governor and two rotor-position controllers respectively, and constitute the linear closed-loop controller by above-mentioned rotational speed governor and two rotor-position controllers to pseudo-linear system;
5. the current hysteresis ring PWM inverter of linear closed-loop controller, α rank inverse system and two expansions being constituted the nonlinear inverse decoupling controller jointly comes bearingless synchronous reluctance motor is controlled; Thereby realize the Multivariable Decoupling Control of motor, to obtain the better controlling performance index.
The present invention realizes bearingless synchronous reluctance motor decoupling zero control through structure α rank inverse system.The building method of said α rank inverse system is: at first set up bearingless synchronous reluctance motor radial suspension force and torque Mathematical Modeling; Derive the state equation of composite controlled object; Can proof system reversible according to the Interactor algorithm, its vector rank relatively be α=(a
1, a
2, a
3)
T=(2,2,1)
T, then with the desired output y=[y of composite controlled object
1y
2y
3]
T=[xyw]
TThe α order derivative of (in the formula, ω is a bearingless synchronous reluctance motor output speed amount, and x, y are respectively radial displacements)
As the input of α rank inverse system, then the output of α rank inverse system is used for controlling the controlled quentity controlled variable that composite controlled object produces desired output just
(in the formula,
Be torque winding current component reference value on the q axle,
Be respectively the reference value of radial suspension force winding current component on x, y axle), calculate the analytical expression of α rank inverse system at last
The present invention is a kind of building method of bearingless synchronous reluctance motor nonlinear inverse decoupling controller; To this multi-input multi-output system non-linear, close coupling of bearingless synchronous reluctance motor; Adopt α rank method of inverse; Convert each controlled volume to separate line integral subsystem, and then make Control System Design be able to simplify and reach easily the desired performance index of system.Not only realized the stable suspersion of bearingless synchronous reluctance motor rotor; And make between electromagnetic torque and the radial suspension force and radial suspension force between the displacement three on two vertical direction, can realizing independent control, and effectively raise the control performance of whole system.The control system that the building method of employing nonlinear inverse decoupling controller obtains is simple in structure, is easy to Project Realization.
The invention has the advantages that:
1. bearingless synchronous reluctance motor is compared with the synchronous magnetic resistance motor of magnetic bearing supporting and is had more reasonable, practical more structure.1. bearingless synchronous reluctance motor compact mechanical structure, rotor axial length reduces, and motor speed, power can be further enhanced, and can realize the high speed and ultrahigh speed operation; 2. power amplification circuit adopts the three phase power inverter circuit in the radial suspension Force control system, makes that the control method of bearingless synchronous reluctance motor is simple, compact conformation; Low in energy consumption, cost descends, and has broken away from the synchronous magnetic resistance motor complex structure of traditional magnetic bearing supporting; Critical whirling speed is low; Defectives such as control system is complicated, and the power amplifier cost is high, and volume is big.
2. adopt the inverse system theory building to go out the α rank inverse system of bearingless synchronous reluctance motor composite controlled object, bearingless synchronous reluctance motor this multi-input multi-output system linearisation and decoupling zero non-linear, close coupling are become three the separate single output of single input line integral subsystems.Thereby complicated non-linear Coupling Control problem just becomes simple Linear Control problem.To two rotor-position second order integral linearity subsystems and a speed single order integral linearity subsystem; Can further adopt methods such as PID, POLE PLACEMENT USING, linear optimal quadratic form adjuster or robust servo-operated regulator to design a fast controller and two rotor-position controllers respectively; Form the linear closed-loop controller; Make the bearingless synchronous reluctance motor rotor realize stable suspersion, and system obtain the runnability of high performance rotating speed, Position Control and anti-load disturbance.
3. adopt the nonlinear inverse decoupling controller to realize the independent control between the multivariable of bearingless synchronous reluctance motor; Effectively having overcome bearingless synchronous reluctance motor only carries out fortran based on field orientation and can't realize this difficult problem of decoupling zero control; Overcome the employing feedforward compensation controller simultaneously, approximate processing, online table look-up and decoupling method such as real-time parameter detection can only be realized system's static decoupling; Can not realize the defective of system dynamics decoupling zero; Adopt the bearingless synchronous reluctance motor control system structure of nonlinear inverse decoupling controller visual in image, it is convenient to realize, system has good dynamic and static state performance.
The present invention can be used for constructing bearingless synchronous reluctance motor nonlinear inverse decoupling controller, and effective decoupling zero control is carried out in operation to the bearingless synchronous reluctance motor loaded suspension, can obtain the better controlling performance, has very high using value.And be other bearing-free motor control system, and the non linear system linearisation of various types of Electric Machine Control of suitable magnetic bearing supporting is controlled with decoupling zero an effective way is provided.
Description of drawings
Fig. 1 is the current hysteresis ring PWM inverter structure sketch map of expansion.
The composite controlled object structural representation that Fig. 2 is made up of the current hysteresis ring PWM inverter of bearingless synchronous reluctance motor and expansion.
The sketch map and the isoboles thereof of the pseudo-linear system that Fig. 3 is made up of α rank inverse system and composite controlled object.
Fig. 4 is based on the theoretical bearingless synchronous reluctance motor decoupling and controlling system theory diagram of α rank inverse system.
Fig. 5 is based on the theoretical bearingless synchronous reluctance motor decoupling and controlling system theory diagram of α rank inverse system.
Fig. 6 is to be the bearingless synchronous reluctance motor nonlinear inverse decoupling controller control device composition sketch map of core with DSP.
Fig. 7 is to be the realization systems soft ware block diagram of the present invention of controller with DSP.
Embodiment
Be described further below in conjunction with accompanying drawing.Connect to form successively by Park inverse transformation, Clark inverse transformation and current hysteresis ring PWM inverter; As shown in Figure 1; The current hysteresis ring PWM inverter 2,3 of current hysteresis ring PWM inverter 2,3, the first and second expansion that is in turn connected to form first, second expansion by Park inverse transformation 21,31, Clark inverse transformation 22,32 and current hysteresis ring PWM inverter 23,33 is as a part of composite controlled object 5.
As shown in Figure 2, the current hysteresis ring PWM inverter 2,3 of two expansions and bearingless synchronous reluctance motor 1 constitute a composite controlled object 5, and wherein the bearingless synchronous reluctance motor winding is made up of torque winding and radial suspension force winding.As shown in Figure 3, α rank inverse system 4 is serially connected in before the composite controlled object 5, realize the decoupling zero control of system.As shown in Figure 4, adopt lineary system theory to design a rotational speed governor 71 and two linear closed-loop controllers 70 that rotor-position controller 72,73 is formed respectively.As shown in Figure 5, by the current hysteresis ring PWM inverter 2,3 of linear closed-loop controller 70, α rank inverse system 4 and two expansions totally three nonlinear inverse decoupling controllers 80 that part is formed, realize the decoupling zero of bearingless synchronous reluctance motor 1 is controlled.Bearingless synchronous reluctance motor 1 output speed amount ω and radial displacement x, y, the current hysteresis ring PWM inverter 2,3 of bearingless synchronous reluctance motor 1 and two expansions is formed composite controlled object 5.Linear closed-loop controller 70 is with composite controlled object 5 given rotating speed amount ω
*With the difference of output speed amount ω, and composite controlled object 5 given radial displacement x
*, y
*With the difference of outputting radial displacement x, y be input signal, the output speed controlled quentity controlled variable
With the radial displacement controlled quentity controlled variable
Inverse system 4 to the α rank, torque winding current component reference value on the q axle of α rank inverse system 4 outputs
The reference value of radial suspension force winding current component on x and y axle
With
With given torque winding current component reference value on the d axle
Be input to the current hysteresis ring PWM inverter 2,3 of two expansions together.According to the Different control requirement, can select different hardware and softwares to realize.
5 steps below the practical implementation of bearingless synchronous reluctance motor nonlinear inverse decoupling controller building method divides:
1, the current hysteresis ring PWM inverter of structure expansion.At first form coordinate transform by Park inverse transformation 21,31 and Clark inverse transformation 22,32; The current hysteresis ring PWM inverter of afterwards this coordinate transform and current hysteresis ring PWM inverter being formed jointly expansion; The current hysteresis ring PWM inverter of this expansion is its input with the motor torque winding stator current d axle component reference value and the constant excitation megnet electric current of the output of α rank inverse system, or two stator current components of motor suspending power winding reference value of exporting with α rank inverse system is its input (as shown in Figure 1).The current hysteresis ring PWM inverter of this expansion will be as a part of composite controlled object.
2. formation composite controlled object.The current hysteresis ring PWM inverter and the bearingless synchronous reluctance motor of two expansions that structure is good are formed composite controlled object; With the motor torque winding current d axle component reference value of α rank inverse system output and motor suspending power winding two stator voltage components reference value and four current signals of constant excitation megnet electric current is its input, and two radial displacements of motor speed and rotor are its output (like Fig. 2, Fig. 3, Fig. 4 and shown in Figure 5).
3. construct α rank inverse system.At first set up the Mathematical Modeling of composite controlled object: from the bearingless synchronous reluctance motor operation principle; Set up bearingless synchronous reluctance motor radial suspension force and torque Mathematical Modeling; Through coordinate transform and linear amplification; Obtain the Mathematical Modeling of composite controlled object, i.e. the 5 rank differential equations under the synchronous rotating frame.Its vector relatively rank be 2,2,1}.Can prove that through deriving this 5 rank differential equation is reversible, promptly α rank inverse system exists, with the desired output y=[y of composite controlled object (5)
1y
2y
3]
T=[xyw]
TThe α order derivative
As the input of α rank inverse systems (4), then the output of α rank inverse system (4) is used for controlling the controlled quentity controlled variable that composite controlled object (5) produces desired output just
Thereby can calculate the analytical expression of α rank inverse system
4. construct linear closed loop controller.Rotating speed subsystem and location subsystem are designed a rotational speed governor and two rotor-position controllers respectively, constitute linear closed-loop controller (shown in the left figure frame of broken lines of Fig. 4).The linear closed-loop controller adopts proportional plus integral plus derivative controller PID, POLE PLACEMENT USING or the most excellent method of quadratic performance in the lineary system theory to design.In the embodiment that the present invention provides, rotational speed governor adopts the PI controller, and two rotor-position controllers are all selected the PID controller for use, and the parameter of controller need be adjusted according to the working control object.
5. form nonlinear inverse decoupling zero control.The current hysteresis ring PWM inverter of linear closed-loop controller, α rank inverse system, two expansions is formed nonlinear inverse decoupling zero control (shown in big empty frame among Fig. 5) jointly.Can require to adopt different hardware and softwares to realize according to Different control.
Fig. 6 has provided the sketch map of a kind of specific embodiment of the present invention, and wherein α rank inverse system, closed loop controller, coordinate transform etc. are that dsp controller is realized through software by digital signal processor.
Fig. 7 has provided the software flow block diagram that system realizes, numerical control system software mainly is made up of main program module and interrupt service subroutine module.Left side figure is a main program module among Fig. 7; The main functions such as initialization, demonstration initial value, circular wait of accomplishing; Fig. 7 right-of-center in political views figure is bearingless synchronous reluctance motor rotating speed, Position Control interrupt service subroutine module; Be the kernel program module that system realizes, mainly accomplish the decoupling zero control of bearingless synchronous reluctance motor electromagnetic torque and radial suspension force.
According to the above, just can realize the present invention.
Claims (7)
1. bearingless synchronous reluctance motor nonlinear inverse decoupling controller; It is characterized in that; This controller comprises the current hysteresis ring PWM inverter (2,3) of linear closed-loop controller (70), a rank inverse systems (4), the first and second two expansions; The output signal of the current hysteresis ring PWM inverter (2,3) of said the first and second two expansions is input to bearingless synchronous reluctance motor (1); Bearingless synchronous reluctance motor (1) output speed amount ω and radial displacement x, y, the current hysteresis ring PWM inverter (2,3) of bearingless synchronous reluctance motor (1) and two expansions is formed composite controlled object (5); Said closed loop controller (70) is with bearingless synchronous reluctance motor (1) given rotating speed amount ω
*With the difference of the rotating speed amount ω that exports, and given radial displacement x
*, y
*With the radial displacement x, the difference of y of output be input signal, the output speed controlled quentity controlled variable
With the radial displacement controlled quentity controlled variable
The inverse system (4) to a rank, current component reference value on the torque winding q axle of a rank inverse systems (4) output
The reference value of current component on radial suspension force winding x and the y axle
With
With current component reference value on the given torque winding d axle
Be input to the current hysteresis ring PWM inverter (2,3) of two expansions together.
2. bearingless synchronous reluctance motor nonlinear inverse decoupling controller according to claim 1; It is characterized in that; Said linear closed-loop controller (70) is made up of a rotational speed governor (71) and two positioners (72,73), and the input signal of rotational speed governor (71) is bearingless synchronous reluctance motor (1) given rotating speed amount ω
*With the difference of the rotating speed amount ω that exports, output speed controlled quentity controlled variable
The inverse system (4) to a rank, the input signal of positioner (72) are the given radial displacement x of bearingless synchronous reluctance motor (1)
*With the difference of outputting radial displacement x, outputting radial displacement controlled quentity controlled variable
The inverse system (4) to a rank, the input signal of positioner (73) are the given radial displacement y of bearingless synchronous reluctance motor (1)
*With the difference of outputting radial displacement y, outputting radial displacement controlled quentity controlled variable
The inverse system (4) to a rank.
3. bearingless synchronous reluctance motor nonlinear inverse decoupling controller according to claim 1; It is characterized in that; In the said composite controlled object (5); Said bearingless synchronous reluctance motor (1) is made up of torque subsystem and suspending power subsystem; The current hysteresis ring PWM inverter (2,3) of said first, second expansion is connected to form by Park inverse transformation, Clark inverse transformation and current hysteresis ring PWM inverter respectively successively, and the current hysteresis ring PWM inverter (2) and the torque subsystem of first expansion are formed first composite controlled object, and the current hysteresis ring PWM inverter (3) and the suspending power subsystem of second expansion are formed second composite controlled object; Said α rank inverse systems (4) output torque winding on current component reference value on the q axle
and given torque winding d axle current component reference value
to the first current hysteresis ring PWM inverter (2) expanded; The reference value
of α rank inverse systems (4) outputting radial suspending power winding current component on x, y axle is to the current hysteresis ring PWM inverter (3) of second expansion; The current hysteresis ring PWM inverter (2) of first expansion is an input variable with torque winding current component reference value
and excitation current component
on the q axle; The torque winding of output current signal to torque subsystem, the suspending power winding of current hysteresis ring PWM inverter output current signal to the suspending power subsystem of second expansion.
4. bearingless synchronous reluctance motor nonlinear inverse decoupling controller according to claim 1 is characterized in that, in the said a rank inverse systems (4), and the desired output y=[y of composite controlled object (5)
1y
2y
3]
T=[x y ω]
TThe a order derivative
As the input of a rank inverse system, a rank inverse system output variable
Control composite controlled object (5), a rank inverse systems (4) are composed in series pseudo-linear system (6) with composite controlled object (5).
5. the building method of a bearingless synchronous reluctance motor nonlinear inverse decoupling controller as claimed in claim 1 is characterized in that, this method comprises the following steps:
Step 1 is made as a whole composition composite controlled object (5) with the bearingless synchronous reluctance motor (1) and the current hysteresis ring PWM inverter (2,3) of two expansions, and the controlled volume of composite controlled object (5) is motor speed and rotor radial displacement;
Step 2 adopts the inverse system theory to construct a rank inverse systems (4) of composite controlled object (5);
Step 3 places composite controlled object (5) before with a rank inverse systems (4), and a rank inverse systems (4) are formed pseudo-linear system (6) with composite controlled object (5); Pseudo-linear system (6) equivalence is the integral linearity subsystem of three decoupling zeros, is respectively the linear subsystem of a speed single order integral form and the linear subsystem of two position second order integral forms;
The method for designing of step 4 employing linear system designs a rotational speed governor (71) and two positioners (72,73) respectively to the integral linearity subsystem of three decoupling zeros, and constitutes linear closed-loop controller (70) by an above-mentioned rotational speed governor (71) and two positioners (72,73);
Step 5 constitutes nonlinear inverse decoupling controller (80) jointly with the current hysteresis ring PWM inverter (2,3) of linear closed-loop controller (70), a rank inverse systems (4) and expansion and comes bearingless synchronous reluctance motor is controlled.
6. according to the building method of right 5 described bearingless synchronous reluctance motor nonlinear inverse decoupling controllers, it is characterized in that the winding of said bearingless synchronous reluctance motor (1) is made up of torque winding and radial suspension force winding; The current hysteresis ring PWM inverter (2,3) of first, second two expansions is connected to form by Park inverse transformation, Clark inverse transformation and current hysteresis ring PWM inverter respectively successively, the output current i of the current hysteresis ring PWM inverter (2) of first expansion
A1, i
B1And i
C1The driving torque winding, the output current i of the current hysteresis ring PWM inverter (3) of second expansion
A2, i
B2And i
C2Drive the radial suspension force winding.
7. the building method of bearingless synchronous reluctance motor nonlinear inverse decoupling controller according to claim 5; It is characterized in that; The building method of said a rank inverse systems (4) is: at first set up the bearingless synchronous reluctance motor Mathematical Modeling; Derive the state equation of composite controlled object (5), its vector rank relatively is a=(α
1, α
2, α
3)
T=(2,2,1)
T, then with the desired output y=[y of composite controlled object (5)
1y
2y
3]
T=[x y ω]
TThe a order derivative
As the input of a rank inverse systems (4), then the output of a rank inverse system (4) is used for controlling the controlled quentity controlled variable that composite controlled object (5) produces desired output just
The analytical expression that calculates a rank inverse system at last does
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| CN103246233A (en) * | 2013-04-22 | 2013-08-14 | 沈阳新松数字驱动有限公司 | Intelligent servo drive control system of electric spindle |
| CN103427754B (en) * | 2013-08-05 | 2016-04-06 | 江苏大学 | Induction-type bearingless motor rotor radial displacement self-operated controller |
| CN103633911B (en) * | 2013-11-18 | 2016-04-06 | 江苏大学 | The building method of bearingless synchronous reluctance motor differential geometrical decoupled control device |
| CN103888037A (en) * | 2014-02-25 | 2014-06-25 | 江苏大学 | Construction method for inverse decoupling controller of extreme learning machine |
| CN103940392B (en) * | 2014-04-17 | 2016-08-17 | 江苏大学 | The rotor-position of a kind of magnetic suspension switched reluctance motor/displacement self-sensing method |
| CN112615512B (en) * | 2020-12-18 | 2022-01-07 | 山东科技大学 | Magnetic suspension Z-axis linear motor of chip mounter |
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