CN103166565A - Sliding mold controller and bimodal control system - Google Patents
Sliding mold controller and bimodal control system Download PDFInfo
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- CN103166565A CN103166565A CN2011104138977A CN201110413897A CN103166565A CN 103166565 A CN103166565 A CN 103166565A CN 2011104138977 A CN2011104138977 A CN 2011104138977A CN 201110413897 A CN201110413897 A CN 201110413897A CN 103166565 A CN103166565 A CN 103166565A
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Abstract
The invention discloses a sliding mold controller which is used in the field of alternating current asynchronous motor control. The sliding mold controller is connected with an output end of an input system. The sliding mold controller comprises a fuzzy controller, a zero-crossing comparator, a first multiplying unit, a second multiplying unit and a summator. The fuzzy controller comprises an e input end, an M output end and an N output end. The e input end of the fuzzy controller, an input end of the zero-crossing comparator and an input end of the first multiplying unit are respectively connected with the output end of the input system. The M output end of the fuzzy controller is connected with the input end of the first multiplying unit. The N output end of the fuzzy controller is connected with an input end of the second multiplying unit. An output end of the zero-crossing comparator is connected with the input end of the second multiplying unit. An output end of the first multiplying unit and an output end of the second multiplying unit are respectively connected with an input end of the summator.
Description
Technical field
The present invention relates to a kind of sliding mode controller for the AC induction motor control field and a kind of dual-modes control system.
Background technology
AC induction motor is the complex model of a multivariable, close coupling, nonlinearity, and its rotor parameter is estimated exists suitable difficulty technically, and is subject to the impact of numerous inner parameters, makes the speed adjusting performance of AC induction motor have a greatly reduced quality.
Sliding mode controller is one of important channel addressed this problem, it belongs to the change structure controller, from the different discontinuities that are its control of other conventional controller maximums, discontinuity is a kind of switching characteristic that can make to be controlled system " structure " and change at any time.Sliding mode controller is less demanding to the accuracy of AC induction motor model, and the uncertain parameter of electric system, parameter variation, the uncertainty of mathematical modeling and the interference of external environment are had to adaptivity completely; This advantage has been established the superiority of sliding mode controller in Motor Control Field.It is according to given rotating speed w and the AC induction motor actual speed value of feedback w of AC induction motor
*between system deviation s and the derivative of described system deviation
on purpose allow governing system along " sliding mode " track operation designed, thereby system have very strong robustness.
Sliding mode controller is also being deposited distinct issues, i.e. a jitter problem.There is shake by the control system in other words conj.or perhaps.The existence of this problem has affected the stability of AC induction motor control system traveling comfort and AC induction motor system.Analyze knownly, the existence of jitter problem is mainly because the switching of the discontinuity of sliding mode controller causes, because, when adopting sliding mode controller, must weaken or eliminate its jitter problem.
At present, the basic step of sliding mode controller design:
Sought before this switching function s, made the motion Asymptotic Stability that the rotating speed of AC induction motor can be in the sliding mode district.For the control of AC induction motor, the switching function that sliding mode controller is selected, system deviation is: s=w-w
*, wherein, the given rotating speed that w is AC induction motor, w
*value of feedback for the AC induction motor actual speed.
Be the control law of seeking sliding mode controller again, make sliding mode controller realize the condition that sliding formwork is controlled,
met.The control rate of the sliding mode controller of choosing on AC induction motor is:
several physical quantitys wherein are: the electromagnetic torque Te of AC induction motor
*, the first gain parameter M, the second gain parameter N, for the further principle to described sliding mode controller, describe in addition, defined following physical quantity: the loading moment of AC induction motor is T
l, the moment of inertia of AC induction motor is J, therefore,
Sliding mode controller is controlled the condition that realizes that sliding formwork is controlled:
Following derivation system sliding mode existence condition:
·s＝w-w
*
According to
:
Control rate according to sliding mode controller:
·w-w
*＞0，J＞0，T
L＞0
When M>0, N<0 o'clock
Therefore, guaranteeing that the adequate condition that sliding mode controller realizes that sliding formwork is controlled is M<0, in the situation of N<0, the sliding formwork motion proposed will exist.
Refer to Fig. 1, current sliding mode controller, its external input system 2, described sliding mode controller 5 comprises the first multiplier 51, zero-crossing comparator 52, the second multiplier 53 and adder 54, the input of described the first multiplier 51 and described zero-crossing comparator 52 is connected with the output of input system 2, the output of described zero-crossing comparator 52 is connected with the input of described the second multiplier 53, the output of the output of described the second multiplier 53 and described the first multiplier 51 is connected described adder 54, the electromagnetic torque Te of the output AC asynchronous machine of described adder 54
*, feed back to described AC induction motor system.While being controlled due to described sliding mode controller, the first gain parameter M on the control rate of sliding mode controller, the second gain parameter N sets in advance on the first multiplier 52 and the second multiplier 53, therefore can't fundamentally eliminate the jitter problem of sliding mode controller.
Summary of the invention
The objective of the invention is, in order to overcome the deficiencies in the prior art, provides a kind of System with Sliding Mode Controller, and it can, when eliminating the System with Sliding Mode Controller shake, not reduce the robustness of System with Sliding Mode Controller.The present invention also provides a kind of dual-modes control device, has PI controller and sliding mode controller advantage separately concurrently,
A kind of technical scheme provided by the invention is: described sliding mode controller is connected with the output of input system, it is characterized in that:
Described sliding mode controller comprises: fuzzy controller, zero-crossing comparator, the first multiplier, the second multiplier and adder, and described fuzzy controller comprises the e input, M output and N output; The input of the input of the e input of described fuzzy controller, described zero-crossing comparator and described the first multiplier, the output that connects respectively described input system, the M output of described fuzzy controller connects the input of described the first multiplier, the N output of described fuzzy controller connects the input of described the second multiplier, the output of described zero-crossing comparator connects the input of described the second multiplier, the output of the output of described the first multiplier and described the second multiplier, connect respectively the input of described adder.
Further, described fuzzy controller is the Mandani type controller.
Adopted the technical scheme of a kind of sliding mode controller of the present invention, in described sliding mode controller, used fuzzy controller, described fuzzy controller comprises the e input, M output and N output.Its technique effect is: have good Static and dynamic performance for speed responsive, response speed, than very fast, without speed overshoot, without advantages such as steady-state errors, has than simple PI speed control and the better control performance of traditional sliding mode controller.
The invention provides another technical scheme is: a kind of dual-modes control system, the external input system of described control system, described control system comprises: PI controller and sliding mode controller, described sliding mode controller is the sliding mode controller with fuzzy controller, the input of described state switching circuit connects the output of described input system, described sliding mode controller and described PI controller are parallel with one another, and described state switching circuit can only be communicated with in described sliding mode controller and described PI controller.
The technical scheme of a kind of dual-modes control system provided by the invention, it is a kind of dual-modes control device, comprise PI controller parallel with one another and with the sliding mode controller of fuzzy controller, and state switching circuit, the connection that described state switching circuit can only be in described PI controller and described sliding mode controller.Its technique effect is: combine PI controller and sliding mode controller advantage separately, have good quiet, dynamic property, response speed, than very fast, has without speed overshoot, without advantages such as steady-state errors.
The accompanying drawing explanation
The structural representation that Fig. 1 is traditional sliding mode controller of the present invention;
The structural representation that Fig. 2 is sliding mode controller of the present invention;
The structural representation that Fig. 3 is dual-modes control device of the present invention.
Embodiment
Refer to Fig. 2 and Fig. 3, of the present invention in order to be understood technical scheme of the present invention better, below by embodiment particularly, and be described in detail by reference to the accompanying drawings:
It consults Fig. 2, and the described sliding mode controller 1 of a kind of sliding mode controller of the present invention is connected with the output of input system 2,
Described sliding mode controller 1 comprises: fuzzy controller 11, zero-crossing comparator 12, the first multiplier 13, the second multipliers 14 and adders 15, and described fuzzy controller 11 comprises the e input, M output and N output;
Input at the e of described fuzzy controller 11 input, described zero-crossing comparator 12 is connected the output of described input system 2 with the input of described the first multiplier 13, the M output of described fuzzy controller 11 connects the input of described the first multiplier 13, the N output connection of described fuzzy controller 11 and the input of described the second multiplier 14, the output of described zero-crossing comparator 12 connects the input of described the second multiplier 14, and the output of described the first multiplier 13 is connected the input of described adder 15 with the output 14 of described the second multiplier.
The input system 2 be connected with sliding mode controller of the present invention comprises the first loader 21, the second input its 22 and subtracter 23, described the first loader 21 is connected with described subtracter 23 with the second loader 22, the output that the output of described input system 2 is described subtracter 23.
Sliding mode controller of the present invention, its control rate to AC induction motor is:
Wherein, the electromagnetic torque Te of AC induction motor
*, the given rotating speed that w is AC induction motor, w
*value of feedback for the AC induction motor actual speed.M is the first gain parameter, and it is to be exported by the M output of described fuzzy controller 11, and N is the second gain parameter, and it is to be exported by the N output of described fuzzy controller 11.Set a system deviation s, s=w-w simultaneously
*, the following describes the course of work of sliding mode controller 1 of the present invention.
Described the first loader 21 reads the given rotating speed w of AC induction motor, and described the second loader 22 reads the value of feedback w of AC induction motor actual speed
*, and, by described subtracter 23, calculate described system deviation s.
Described system deviation s inputs described fuzzy controller 11 from the e input of described fuzzy controller 11, described system deviation s inputs described zero-crossing comparator 12 from the input of described zero-crossing comparator 12, and described system deviation s inputs described the first multiplier 14 from the input of described the first multiplier 13.
After the e input input system deviation s of described fuzzy controller 11, described system deviation s is carried out to fuzzy operation, from the M output, export described the first gain parameter M, from the N output, export described the second gain parameter N.The course of work of described fuzzy controller 11 is:
After described system deviation s inputs described fuzzy controller 11, described fuzzy controller 11 is got described system deviation s, described the first gain parameter M and described the second gain parameter N fuzzy subset, and this fuzzy subset is: { NB, NM, NS, ZO, PS, PM, PB}, in this fuzzy subset, element represents respectively and bears greatly, in bearing, negative little, zero, just little, center, honest.This fuzzy subset's domain is [6,6], this fuzzy subset's quantification gradation be 6 ,-5 ,-4 ,-3 ,-2 ,-1,0,1,2,3,4,5,6}.The membership function type of setting described system deviation s at described fuzzy controller 11 is Gaussian, and the membership function type of setting described the first gain parameter M and described the second gain parameter N is triangular form.
Can realize based on described slip controller 1 condition that sliding formwork is controlled
.Setup control rule to described fuzzy controller 11.The control law of described fuzzy controller 11 may be summarized to be: described system deviation s is larger, described the first gain parameter M and described the second gain parameter N value are less, described system deviation s is less, and described the first gain parameter M and described the second gain parameter N value are larger.The concrete control law of described fuzzy controller 11 is as shown in Table 1 and Table 2:
Described the first gain parameter M fuzzy control rule of table 1
| s | NB | NM | NS | ZO | PS | PM | PB |
| -M | NB | NM | NS | ZO | PS | PM | PB |
Table 2 parameter n fuzzy control rule
| s | NB | NM | NS | ZO | PS | PM | PB |
| -N | NB | NM | NS | ZO | PS | PM | PB |
Described fuzzy controller 11 is the Mandani type controller.The base attribute of the fuzzy inference system of described fuzzy controller 11 is: the And computing adopts the min function to carry out computing; The Or computing adopts the max function to carry out computing; Fuzzy implication adopts the min function to carry out, and the comprehensive computing of fuzzy rule adopts the max function to carry out; The de-fuzzy computing adopts the COG gravity model appoach to carry out.Described fuzzy controller 11 is after analyzing the membership function type of differentiating input described system deviation s, described the first gain parameter M and described the second gain parameter N and quantizing space, described system deviation s according to input, export described the first gain parameter M and described the second gain parameter N.
Described zero-crossing comparator 12 is used for described system deviation s is carried out to the calculating of sign function, when described system deviation s>0, and the output of zero-crossing comparator 12 output 1, when described system deviation s<0, the output output-1 of zero-crossing comparator 12.
After described system deviation s and the first gain function M exported by the M output of described fuzzy controller 11 input the input of described the first multiplier 13, through multiplication, calculate, from the output output M (w-w of described the first multiplier 13
*);
By the second gain function N of described fuzzy controller N output output and the Sign (w-w exported by described zero-crossing comparator 12
*) input the input of described the second multiplier 14 after, through multiplying, from the output of described the second multiplier 14 output NSign (w-w
*).
Output output M (w-w by described the first multiplier 11
*) and the NSign (w-w of the output of described the second multiplier 11 output
*) input the input of described adder 15 after, through additional calculation, obtain
and by described
feed back to described AC induction motor system, the rotating speed of described AC induction motor is controlled.
System speed response than simple PI speed control has overshoot, and the adjusting time is long; The speed responsive non-overshoot of traditional sliding mode controller, the response time is also than comparatively fast, but has jitter problem; By contrast, because having adopted fuzzy controller, sliding mode controller of the present invention carries out the calculating of described the first gain parameter M and described the second gain parameter N.Sliding mode controller of the present invention has good Static and dynamic performance for speed responsive, and response speed, than very fast, has without speed overshoot, without advantages such as steady-state errors.Explanation thus, sliding formwork of the present invention utensil processed has than simple PI speed control, the better control performance of traditional sliding mode controller.
Refer to Fig. 3, of the present inventionly also provide a kind of dual-modes control system, the external input system of described control system, described control system comprises:, state switching circuit 4, PI controller 3 and sliding mode controller of the present invention 1, described sliding mode controller 1 is with fuzzy controller 11.Described state switching circuit 4 connects the output of described input system, and described sliding mode controller 1 and described PI controller 3 are parallel with one another, and described state switching circuit 4 can only be communicated with in described sliding mode controller 1 and described PI controller 3.
The input system that described dual-modes control system connects and sliding mode controller 1 of the present invention to connect input system 2 be identical, described input system is reading given rotor speed w and actual rotor speed feedback value w
*after, by the output of described output system, export described system deviation s to described state switching circuit 4.
Described state switching circuit 4 has been set a threshold value EP, when system deviation s is greater than EP, described commutation circuit 4 is communicated with described sliding mode controller 1, adopts 1 pair of described sliding mode controller to be controlled object 6 and is controlled, and now system has very strong robustness and antijamming capability; When system deviation s is less than EP, described commutation circuit 4 is communicated with described PI controller 3, adopts described PI controller to be controlled controlling object 6, now can solve the jitter problem that sliding mode controller has.
System responses based on conventional PI speed control has overshoot, the system that response time and the speed under the identical load disturbance obviously are longer than traditional sliding mode controller, a kind of sliding mode controller of the present invention and a kind of dual-modes control of the present invention recovery time; Its jitter problem of tradition sliding mode controller is very obvious, must suppress; Although sliding mode controller of the present invention is stronger than PI controller in robustness and anti-interference simultaneously, and weaken to a great extent the jitter problem of sliding mode controller, there be not basic elimination of sliding mode jitter problem in system; By contrast, adopt the dual-modes control system to combine PI controller and controller advantage separately, dual-modes control system of the present invention has good quiet, dynamic property, and response speed is than very fast, without speed overshoot, without advantages such as steady-state errors.
Those of ordinary skill in the art will be appreciated that, above embodiment is only for the present invention is described, and not be used as limitation of the invention, as long as in connotation scope of the present invention, to variation, the modification of the above embodiment, all will drop in claims scope of the present invention.
Claims (3)
1. a sliding mode controller, described sliding mode controller (1) is connected with the output of input system (2), it is characterized in that:
Described sliding mode controller (1) comprising: fuzzy controller (11), zero-crossing comparator (12), the first multiplier (13), the second multiplier (14) and adder (15), described fuzzy controller (11) comprises the e input, M output and N output;
The e input of described fuzzy controller (11), the input of the input of described zero-crossing comparator (12) and described the first multiplier (13), the output that connects respectively described input system (2), the M output of described fuzzy controller (11) connects the input of described the first multiplier (13), the N output of described fuzzy controller (11) connects the input of described the second multiplier (14), the output of described zero-crossing comparator (12) connects the input of described the second multiplier (14), the output of the output of described the first multiplier (13) and described the second multiplier (14), the input that connects respectively described adder (15).
2. sliding mode controller according to claim 1, it is characterized in that: described fuzzy controller (11) is the Mandani type controller.
3. a dual-modes control system, the external input system of described control system, it is characterized in that: described control system comprises: state switching circuit (4), PI controller (3) and sliding mode controller according to claim 1 (1), described sliding mode controller (1) is the sliding mode controller with fuzzy controller (11), the input of described state switching circuit (4) connects the output of described input system, described sliding mode controller (1) and described PI controller (3) are parallel with one another, described state switching circuit (4) can only be communicated with in described sliding mode controller (1) and described PI controller (3).
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103944476A (en) * | 2014-03-07 | 2014-07-23 | 电子科技大学 | Torque controller of electric vehicle |
| CN106026675A (en) * | 2016-07-05 | 2016-10-12 | 扬州大学 | Fuzzy frequency selection sliding mode controller for LLC resonant DC converter |
| CN107975457A (en) * | 2017-11-17 | 2018-05-01 | 重庆邮电大学 | A kind of Wind turbines pitch control method for suppressing fluctuations in wind speed interference |
| CN113504731A (en) * | 2021-08-11 | 2021-10-15 | 中国科学院光电技术研究所 | Sliding mode disturbance observer design method based on parallel controller |
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| CN102035456A (en) * | 2010-12-14 | 2011-04-27 | 长春工业大学 | Direct torque control system of permanent magnet synchronous motor based on terminal sliding mode |
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| US5988848A (en) * | 1996-02-21 | 1999-11-23 | Siemens Aktiengesellschaft | Method and arrangement for adapting a sliding mode fuzzy controller |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103944476A (en) * | 2014-03-07 | 2014-07-23 | 电子科技大学 | Torque controller of electric vehicle |
| CN103944476B (en) * | 2014-03-07 | 2017-01-25 | 电子科技大学 | Torque controller of electric vehicle |
| CN106026675A (en) * | 2016-07-05 | 2016-10-12 | 扬州大学 | Fuzzy frequency selection sliding mode controller for LLC resonant DC converter |
| CN106026675B (en) * | 2016-07-05 | 2020-01-03 | 扬州大学 | Fuzzy frequency-selecting sliding mode controller of LLC resonant DC converter |
| CN107975457A (en) * | 2017-11-17 | 2018-05-01 | 重庆邮电大学 | A kind of Wind turbines pitch control method for suppressing fluctuations in wind speed interference |
| CN107975457B (en) * | 2017-11-17 | 2019-12-31 | 重庆邮电大学 | Wind turbine generator variable pitch control method for inhibiting wind speed fluctuation interference |
| CN113504731A (en) * | 2021-08-11 | 2021-10-15 | 中国科学院光电技术研究所 | Sliding mode disturbance observer design method based on parallel controller |
| CN113504731B (en) * | 2021-08-11 | 2023-06-13 | 中国科学院光电技术研究所 | Sliding mode disturbance observer design method based on parallel controller |
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Application publication date: 20130619 |