CN104270041B - Rimer motor synchronous speed regulating control system based on active disturbance rejection control technology - Google Patents
Rimer motor synchronous speed regulating control system based on active disturbance rejection control technology Download PDFInfo
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Abstract
The invention discloses a rimer motor synchronous speed regulating control system based on an active disturbance rejection control technology. The rimer motor synchronous speed regulating control system based on the active disturbance rejection control technology comprises a left rimer motor, a right rimer motor, a frequency converter, a main rimer transformer and a PLC, wherein the left rimer motor and the right rimer motor are coaxially connected; the frequency converter comprises a control module, a left rimer motor inverter module and a right rimer motor inverter module; the primary edge of the main rimer transformer is connected with a main power source, and the secondary edge of the main rimer transformer is connected with a rectification module; the frequency converter is connected with the left rimer motor and the right rimer motor; a phase shifting transformer can carry out phase shifting on sent three-phase alternating current and supply the three-phase alternating current to the frequency converter, and a frequency control and speed regulating module outputs variable voltage under control of the PLC to synchronously regulate speed of the left rimer motor and the right rimer motor. The PLC comprises two operation modules based on an ADRC algorithm. According to the rimer motor synchronous speed regulating control system based on the active disturbance rejection control technology, double-motor drive with large charge capacity is met, so that the rotating speed control process of the rimer motors is rapid and smooth, and real-time accurate and synchronous speed regulating control can be achieved.
Description
Technical field
The present invention relates to ship dredging technology field, specifically the reamer motor in synchrony speed governing based on Auto Disturbances Rejection Control Technique
Control system.
Background technology
Cutter suction dredger is to use a kind of wide ship in dredging work at present, and it is to be enclosed using suction hose front end
Install rotation reamer device around suction hose, river sediment is cut and stirs, then through dredging tube by the silt hoisting material,
By powerful pumping forces, it is transported to silt solid accumulation field, dredging, transporting the courses of work such as mud, dump of it, can disposably connect
Continue and complete, it is a kind of efficiency high, lower-cost dredger.Reamer is one of key equipment that cutter suction dredger is dredged,
For excavate mud, Extra-fine sand, clay, in closely knit dauk and gravel, realize by soil move away from its original position and and attached
Near water is mixed to form the function of mud.
, in actual dredging operation, its all kinds of load behavior, sea situation difference are big for cutter suction dredger, the depth of feed and excavation
Shale different, reamer power of motor excursion larger and change frequently it is therefore desirable in reamer electric machine speed regulation performance plus
To improve.When reamer load is less (as the nominal load of 20%～30% reamer), only need a Motor drive；When reamer is born
When carrying larger (nominal load of such as larger than 50% reamer), then need Dual-motors Driving.In order to reamer safety and stability works for a long time, one
As in the case of two Motor drive robustness higher, more stable reliability.When real ship connects, every motor subtracts each via independent
Fast mechanism and clutch, are commonly connected on reamer mechanical axis；Every motor can enter into and exit from the machine of reamer by clutch
Tool transmission system.But, when two motor parallels drive, maximum technical problem is that two motor output speeds require completely
Equal, that is, synchronous.If two motor output speeds have deviation, the slow motor turning occurs that inverse probability is (i.e. fast by turn
Motor energy absorption, produce different degrees of Generator Status), therefore, the fast motor load turning is increased dramatically and produces
Overload, causes this motor stator winding to generate heat, motor damage when serious.For every motor, its controller, variable frequency drives control
Principle processed, technical indicator, contravarianter voltage and rate-adaptive pacemaker must be consistent.
With big-power transducer technology maturation and development, dredging plant (reamer, the water of the dredger of China's shipbuilding
Lower dredge pump) gradually adopt frequency control way to realize starting, speed governing and control for brake.Need to solve following two using frequency conversion drive
Point problem：One is that dredger all kinds of load behavior difference is big, and the controller of design should be able to overcome unknown load disturbance and parameter
Change；Two is after high-power frequency conversion drives use, due to the switching characteristic of power semiconductor device, in its input and outlet side
All can the distortion of waveform in voltage and current, produces substantial amounts of higher hamonic wave, and only electrical network total harmonic voltage THD_u just reaches
12%, expend the valuable energy, more seriously threaten the safe handling of the weak current equipments such as dredger communication navigation.
The reamer of cutter suction dredger is one of cutter suction dredger most important power output part, cutter suction dredger reamer electricity
The precise control of machine rotating speed to improve operating efficiency, protect reamer, protect ship machinery, to realize dredging automation most important.
In order to realize cutter suction dredger reamer motor, accurate synchronous variable-speed controls in real time, and its controller should be able to well adapt to not know
Property, such as geological environment, hydrological characteristics, mechanical disturbance etc..
The Frequency Drive Control commonly used PID (Proportion-Integral- to reamer motor for the prior art
Derivative, proportional-integral-differential) controller.Classical PID controller motion control, process control etc. application in always
Occupy leading position, its topmost advantage (being also its marrow), is to determine to disappear by the error between target and agenda
Except the control strategy of this error, rather than to determine control strategy by the input/output model of object, as long as selecting PID gain
Make closed-loop stabilization, then a class object just can be made to reach Static State Index.However, with scientific and technical development to control accuracy and
The requirement of speed, and the requirement more and more higher of the adaptability to environmental change, classical PID slowly manifests its shortcoming：
(1) closed-loop dynamic quality is too sensitive to the change of PID gain, and the environment due to controlled device often changes, and needs
Often change PID gain, this makes the practical application of PID be subject to a definite limitation.
(2) reamer motor output y is dynamical output, has certain inertia, so object output cannot realize step becoming
Change.But set-point v is given by outside control system, enables Step reference.PID control is directly selected between them
Control information e=v-y eliminating this error, this be equal to allow cannot physical quantity y of Spline smoothing can be with Step reference to follow the tracks of
Physical quantity v, this is obviously less reasonable.
(3) " feeding back to eliminate error based on error " is the marrow of PID, but PID directly chooses target and agenda
Between error be not entirely sensible.Directly choose this error, usually make initial controling power too big and make system action
Overshoot occurs.This shortcoming be in the closed-loop system cause PID control produce " rapidity " and " overshoot " between contradiction main
Reason.
(4) PID is to form feedback control amount according to the weighted sum form of the ratio of error, integration, differential.However,
In addition to the occasion (this occasion is fewer in practice) directly measuring agenda pace of change, proper micro- due to not having
Divide device, usually only use PI (error free Derivative Feedback) control law, this in turn limits the control ability of PID.
(5) developing by leaps and bounds with Digital Electronic Technique and computer technology, in the controller, simulation electronic controls base
Originally make way for digital and electronic control, the Advanced Control Techniques such as nonlinear Control and Based Intelligent Control are widely used, such as conventional
The linear combination that PID control is limited to weighted sum like that is completely unnecessary.
(6) a large amount of control engineering practices prove, the feedback of the error intergal in classical PID control, to suppression constant value disturbance
Really there is its effect.But, during undisturbed effect, the feedback of error intergal usually makes slow in reacting, the easy product of closed-loop system
The negative interactions such as raw vibration, and for the disturbance changing at any time, the feedback of error intergal easily makes controlled quentity controlled variable saturation again, leads to amass
Divide the rejection ability of feedback not notable, therefore seem it is not very necessary using output error integral feedback.
Through retrieval, the most akin implementation is with the present invention【Cutter suction dredger based on plc communication network is integrated
Supervision and control system (Long Honggang)】.The program passes through PLC and its controlling network, has implemented " new dolphin " strand suction and has dug
Mud ship reamer motor PID automatically controls.Dredge automatically control in both can be according to operating mode, soil property, Yield and quality, progress, safety
Allow the scope of the numerical value or controlled quentity controlled variable reaching Deng setting controlled variable, work as controlled quentity controlled variable and controlled variable is not same physical quantitiess again
When, also can determine the size of controlled quentity controlled variable according to the setting value of controlled variable and actual amount, and make executing agency implement to control.
PID control is the proportional integral differential control by deviation (input signal and the difference feeding back signal).
PID controller idealizes equation:
U (k)=u (k-1)+u (k)=u (k-1)+kP[e(k)-en(k-1)]+kIe(k)+kD[en(k)+2e(k-1)+e(k-
2)]
The program is by the position and the reamer that automatically control real-time control reamer to cutter suction dredger reamer motor
Thickness of cutting etc., but PID controller still suffers from producing " rapidity " in closed-loop system on precise control reamer motor speed
The feedback of the error intergal in the contradiction between " overshoot ", PID makes the dynamic characteristic of closed loop be deteriorated etc. when undisturbed acts on
Defect.
Content of the invention
Right in order to there is non-linear, time-varying and control during overcoming cutter suction dredger reamer motor in synchrony speed regulating control
As being inevitably subject to the interference of environment to have probabilistic feature, the present invention devises one kind and is based on Active Disturbance Rejection Control
The reamer motor in synchrony speed-adjusting and control system of technology, makes reamer motor speed control process quick, smooth, it is possible to achieve essence in real time
True synchronous variable-speed controls.
In order to achieve the above object, the embodiment of the present invention provides cutter suction dredger reamer motor variable-frequency speed-regulating Active Disturbance Rejection Control
Device employs the following technical solutions：
A kind of reamer motor in synchrony speed-adjusting and control system based on Auto Disturbances Rejection Control Technique it is characterised in that：Including reamer
The left motor of main transformer, frequency converter, reamer, the right motor of reamer and PLC；Described frequency converter includes rectification module, strand
Knife left motor inverter module, reamer right motor inverter module, sensor assembly and control module；Described PLC
Including an ADRC (Active Disturbance Rejection Controller, automatic disturbance rejection controller) module and second
ADRC module；
The left motor of described reamer motor coaxle right with described reamer is connected；
Described reamer main transformer is phase-shifting transformer, and its input electrically connects with main power source, its output end and described change
The rectification module electrical connection of frequency device；
Described reamer main transformer output AC voltage is converted to DC voltage by described rectification module, and export respectively to
The described left motor inverter module of reamer and the right motor inverter module of described reamer；
A described ADRC module is calculated by ADRC according to the current rotating speed of rotational speed setup signal v and the left motor of described reamer
Method calculates the actual controlled quentity controlled variable to the left motor of described reamer；Wherein, the current rotating speed of the left motor of described reamer is by described sensor
Module obtains and feeds back to a described ADRC module by described control module；
Described 2nd ADRC module is calculated by ADRC according to the current rotating speed of rotational speed setup signal v and the right motor of described reamer
Method calculates the actual controlled quentity controlled variable to the right motor of described reamer；Wherein, the current rotating speed of the right motor of described reamer is by described sensor
Module obtains and feeds back to described 2nd ADRC module by described control module；
Described control module generates the first control signal and by described the according to the actual controlled quentity controlled variable of the left motor of described reamer
One control signal inputs to described reamer left motor inverter module；Described control module is according to the reality to the right motor of described reamer
Border controlled quentity controlled variable generates the second control signal and inputs described second control signal to described reamer right motor inverter module；
The DC voltage that described rectification module exports is converted to the first alternating current by the left motor inverter module of described reamer
Pressure, and control the frequency of described first alternating voltage according to the first control signal of described control module；Described first alternating current
Pressure output is to the left motor of described reamer to drive its rotation；
The DC voltage that described rectification module exports is converted to the second alternating current by the right motor inverter module of described reamer
Pressure, and control the frequency of described second alternating voltage according to the second control signal of described control module；Described second alternating current
Pressure output is to the right motor of described reamer to drive its rotation；
A described ADRC module, described control module, described reamer left motor inverter module and sensor assembly
Constitute a close loop control circuit；Described 2nd ADRC module, described control module, described reamer right motor inverter module with
And sensor assembly constitutes another close loop control circuit；Two close loop control circuits respectively by left for described reamer motor with described
The stabilization of speed of the right motor of reamer is in described rotational speed setup signal v thus reaching synchronization.
The three-phase sent 690V alternating current can be carried out supplying frequency converter, frequency converter after phase shift by described reamer main transformer
Under the control of PLC, to reamer, left and right motor synchronizes speed governing to output variable voltage.MATLAB first through PC
Software provides reamer left and right motor speed Setting signal v, more left and right to reamer by photoelectric code disk (increment photoelectric sensor)
Motor speed signal is sampled, and then fills through the TD (Tracking Differentiator, Nonlinear Tracking Differentiator) in PLC
Put, (Nonlinear Proportional Derivative Controllers, non-linear ratio is micro- for nonlinear PD control device
Sub-controller) device and NLESO (Nonlinear Extender State Observer, nonlinear extension state observer)
Device carries out active disturbance rejection computing, and output control signal controls frequency converter, and the alternating voltage after frequency conversion is driven by frequency converter more respectively
The left and right motor of reamer rotates.Finally control the left motor of described reamer and the right motor stabilizing of described reamer in rotational speed setup signal v,
Thus reaching synchronization.
Reamer electric machine control system is centered on PLC, in conjunction with frequency converter, reamer main transformer and upper PC
Etc. composition.Every motor is controlled respectively using ADRC control algolithm, two ADRC modules are included model disturbance (different work
Condition, sea situation), the unification different with the shale of excavation of the depth of feed be considered as extended state observer that external disturbance processed and
Determine the control law of NONLINEAR PD according to error, and with disturbance estimate, error feedback control amount is compensated.
Further, a described ADRC module arbitrary inclusion with described 2nd ADRC module
Nonlinear Tracking Differentiator, generates M signal according to reamer motor speed Setting signal v in the way of transition process arranging
v1With v2, wherein v1It is the transition process arranging to described reamer motor, v2It is the transition process arranging to described reamer motor
Differential；
Nonlinear extension state observer, according to actual controlled quentity controlled variable u of described reamer motor and described reamer motor
Estimate z to calculate state variable for the current rotating speed y1、z2Estimate with the total disturbance quantity acting on described reamer motor
z3；Wherein z1It is the rotating-speed tracking value of described reamer motor, z2It is that the differential of the rotating-speed tracking value of described reamer motor accelerates
Degree；
Nonlinear PD control device, generates error signal e1=v1-z1And e2=v2-z2, and by error signal e1With e2Combination
Go out error feedback control amount u0, form actual controlled quentity controlled variable u=u to described reamer motor0-z3/b；Wherein, b is compensating factor.
Further, described Nonlinear Tracking Differentiator in discrete system expression formula be
Wherein, Ts is the systematic sampling time, and r is to determine that the velocity factor of tracking velocity, h are the filtering determining filter effect
The factor；
fhan(v1(k)-v(k),v2(k), r, h) it is variable v1(k)-v(k),v2(k), the given non-linear letter of r, h
Count, its expression formula is
Nonlinear Tracking Differentiator is exactly a kind of signal transacting link in fact, when rotational speed setup (input signal) v of reamer motor sends out
During raw mutation, TD can provide smooth output signal as input for controller, makes controlled quentity controlled variable export consecutive variations, Bu Huiyin
Produce overshoot for the mutation of input, enhance the stability of system.
Further, expression formula in discrete system for the described nonlinear extension state observer is
Wherein, βi＞ 0 (i=1,2,3), a1, a2For custom parameter；
Saturation function fal (error, a, δ) is expressed as
Wherein a is nonlinear factor, and δ is the length of linearly interval.By nonlinear extension state observer, it is right to can achieve
The observation of the position, speed and unknown portions of reamer motor (controlled device), is enabled without tachometric survey using this observer
Control, and can achieve unknown to cutter suction dredger uncertainty (sea situation operating mode) and additional interference (mechanical disturbance etc.) benefit
Repay.
Further, expression formula in discrete system for the described nonlinear PD control device is
And
Wherein, δ1、δ2For linearly interval length, a01、a02For nonlinear factor, and 0 ＜ a02＜ a01＜ 1.
Nonlinear PD control device by improve reamer motor speed feedback control efficiency it is ensured that system real-time
Property, and uncertain disturbance in nonlinear extension state observer device is compensated, it is long-pending for realizing controlled device Approximate revision
Divide the function of series connection link.
Further, described reamer main transformer is phase shift three-winding transformer, and its former limit is connected into triangle, and secondary is two
Winding, one is connected into triangle, and another is connected into star.Because two secondary side winding line voltages are identical, then their items
Between phase difference be 30 degree, such 5 times, 7 subharmonic can offset in primary side, 17 times, 19 subharmonic also can cancel each other, so,
The VD of rectification module is smoother.
Further, described preliminary filling magnetic variation is also included based on the reamer motor in synchrony speed-adjusting and control system of Auto Disturbances Rejection Control Technique
Depressor, delay switching control circuit, the first controlled switch and the second controlled switch；The former limit of described reamer main transformer passes through the
One controlled switch is connected with main power source, and its secondary is connected with described frequency converter；The input of described preliminary filling magnetic transformer passes through the
Two controlled switch are connected with described main power source, and its output end is connected with the former limit of described reamer main transformer；
Delay switching control circuit, for controlling the switch shape of described first controlled switch and described second controlled switch
State；Under working condition, described delay switching control circuit first controls described first controlled switch to disconnect and control described second
Controlled switch closes, and so that described preliminary filling magnetic transformer is connected with main power source；Through time delay, described delay switching control circuit controls
Described first controlled switch closes and controls described second controlled switch to disconnect, and so that reamer main transformer is connected with main power source.
Further, described a driver is also included based on the reamer motor in synchrony speed-adjusting and control system of Auto Disturbances Rejection Control Technique
Structure；Including left clutch, left gear case, right clutch, right gear case and mechanical axis composition；The left motor of described reamer passes through
Described left clutch is connected with described left gear case, and the right motor of described reamer passes through described right clutch with described right gear case even
Connect；Described left gear case becomes paralleled twin-engine structure jointly to drive described mechanical axis with described right gear case；Described mechanical axis and institute
State reamer to be rigidly connected.
Beneficial effect：A kind of reamer motor in synchrony speed-adjusting and control system based on Auto Disturbances Rejection Control Technique of the present invention, its
Environmental suitability, antijamming capability and robustness are all very strong, are capable of stably quick, accurate synchronous variable-speed control in real time,
Thus improve the operating efficiency of cutter suction dredger, reduce the maintenance cost of dredging plant (reamer, underwater dredge pump etc.), this is right
Improve the operating efficiency of cutter suction dredger, protect reamer, protection ship machinery, realization dredging automation to be significant, this
Invention has higher practical reference value.A kind of reamer motor in synchrony based on Auto Disturbances Rejection Control Technique provided by the present invention
Speed-adjusting and control system, meets the big Dual-motors Driving of load capacity, makes reamer motor speed control process quick, smooth, Ke Yishi
When real, accurate synchronous variable-speed controls so as to controller can well adapt to geological environment, hydrological characteristics, mechanical disturbance etc. no
Certainty.
Brief description
Fig. 1 is a kind of reamer motor in synchrony speed-adjusting and control system structured flowchart based on Auto Disturbances Rejection Control Technique；
Fig. 2 is the connection diagram of the left motor of described reamer, the right motor of reamer and described transmission mechanism；
Fig. 3 is reamer motor in synchrony governing system automatic disturbance rejection controller block diagram；
Fig. 4 is the electrical schematic diagram of the main power source, reamer main transformer and preliminary filling magnetic transformer in Fig. 1；
Fig. 5 is the electrical schematic diagram of delay switching control circuit；
Fig. 6 is nonlinear extension state observer structure chart；
Fig. 7 a is the rotational speed setup signal under velocity factor r=5, transition process arranging and its differential curve figure；
Fig. 7 b is the rotational speed setup signal under velocity factor r=25, transition process arranging and its differential curve figure；
Fig. 7 c is the rotational speed setup signal under velocity factor r=50, transition process arranging and its differential curve figure；
Fig. 8 is the reamer motor mathematical model figure with torque fluctuations；
Fig. 9 a is NLESO status tracking curve x1、z1Figure；
Fig. 9 b is NLESO status tracking curve x2、z2Figure；
Fig. 9 c is NLESO status tracking curve w, z3Figure；
Figure 10 is ADRC and reamer motor speed curve map under PID control；
Figure 11 is anti-interference emulation experiment curve map.
Specific embodiment
First,System architecture.
As shown in figure 1, it is a kind of reamer motor in synchrony speed governing based on Auto Disturbances Rejection Control Technique provided by the present invention
Control system.Provided by the present invention a kind of based on the reamer motor in synchrony speed-adjusting and control system of Auto Disturbances Rejection Control Technique include twist
Knife main transformer 1, frequency converter 2, the left motor of reamer 3, the right motor of reamer 4, PLC 5, PC 6 and transmission mechanism 7 (Fig. 1
Do not show)；The input of described reamer main transformer 1 is electrically connected with main power source, and output end is electrically connected with described frequency converter 2.Described
Frequency converter 2 motor 3 left with described reamer, the right motor of reamer 4 and PLC 5 electrically connect.
As shown in Fig. 2 it is the connection diagram of the left motor of described reamer, the right motor of reamer and described transmission mechanism.Institute
State transmission mechanism 7 and include left clutch 71, left gear case 72, right clutch 73, right gear case 74 and mechanical axis 75 composition；
The left motor 3 of described reamer is connected with described left gear case 72 by described left clutch 71, and the right motor 4 of described reamer passes through described
Right clutch 73 is connected with described right gear case 74；Described left gear case 72 becomes paralleled twin-engine structure altogether with described right gear case 74
With the described mechanical axis 75 of driving；Described mechanical axis 75 is rigidly connected with described reamer A.
Described frequency converter 2 include rectification 21, reamer left motor inverter module 22, reamer right motor inverter module 23,
Sensor assembly 24 and control module 25.Described PLC 5 includes an ADRC module 51 and the 2nd ADRC module 52.
Described reamer main transformer 1 is phase shift three-winding transformer, and its former limit is connected into triangle, and secondary is two windings,
One is connected into triangle, and another is connected into star.This reamer main transformer 1, by after main power voltage phase shift, exports to described change
The rectification module 21 of frequency device 2.Main power source adopts three-phase 690V alternating voltage in the present embodiment.
Described reamer main transformer 1 output AC voltage is converted to DC voltage by described rectification module 21, and defeated respectively
Go out to described reamer left motor inverter module 22 and the right motor inverter module 23 of described reamer.In the present embodiment, described
The direct current that rectification module 21 boosts the AC rectification of 690V for 930V.
According to rotational speed setup signal v, the current rotating speed of left motor 3 passes through a described ADRC module 51 with described reamer
ADRC algorithm calculates the actual controlled quentity controlled variable of the left motor 3 to described reamer；Wherein, the current rotating speed of the left motor 3 of described reamer is by institute
State sensor assembly 24 to obtain and feed back to a described ADRC module 51 by described control module 25.
According to rotational speed setup signal v, the current rotating speed of right motor 4 passes through described 2nd ADRC module 52 with described reamer
ADRC algorithm calculates the actual controlled quentity controlled variable of the right motor 4 to described reamer；Wherein, the current rotating speed of the right motor 4 of described reamer is by institute
State sensor assembly 24 to obtain and feed back to described 2nd ADRC module 52 by described control module 25.
In the present embodiment, described sensor assembly 24 is respectively adopted two photoelectric code disk detection left motors of described reamer 3
Rotating speed and the right motor 4 of described reamer rotating speed.
Described control module 25 generates the first control signal will be described according to the actual controlled quentity controlled variable of the left motor of described reamer 3
First control signal inputs to described reamer left motor inverter module 22；Described control module 25 is according to electricity right to described reamer
The actual controlled quentity controlled variable of machine 4 generates the second control signal and described second control signal is inputted motor inverter left to described reamer
Module 22.
The DC voltage that described rectification module 21 exports is converted to the first friendship by the left motor inverter module 22 of described reamer
Stream voltage, and control the frequency of described first alternating voltage according to the first control signal of described control module 25；Described first
Alternating voltage exports to the left motor of described reamer 3 to drive its rotation.
The DC voltage that described rectification module 21 exports is converted to the second friendship by the right motor inverter module 23 of described reamer
Stream voltage, and control the frequency of described second alternating voltage according to the second control signal of described control module 25；Described second
Alternating voltage exports to the right motor of described reamer 4 to drive its rotation.
A described ADRC module 51, described control module 25, described reamer left motor inverter module 22 and sensing
Device module 24 constitutes a close loop control circuit；Described 2nd ADRC module 52, described control module 25, the right motor of described reamer
Inverter module 23 and sensor assembly 24 constitute another close loop control circuit；Two close loop control circuits respectively will be described
The stabilization of speed of the left motor of reamer 3 and the right motor 4 of described reamer is in described rotational speed setup signal v thus reaching synchronization.
Described PC 6 is electrically connected with described PLC 5, for PLC programming, host computer communication, MATLAB computing and
Man-machine interface.
Both arbitrary inclusion Nonlinear Tracking Differentiators in a described ADRC module 51 and described 2nd ADRC module 52, non-linear
Extended state observer and NONLINEAR PD (Proportional Derivative controllers, proportion-plus-derivative control
Device) controller.It should be noted that the reamer motor for an ADRC module 51 is the left motor of reamer 3, for described second
The reamer motor of ADRC module 52 is the right motor of reamer 4, and that is, in addition to control object is different, it is internal for two ADRC modules
Construction unit is the same.Thus in order to easily illustrate, below only to one of ADRC module to controlled reamer motor
Control principle describes.As shown in figure 3, it is reamer motor in synchrony governing system automatic disturbance rejection controller block diagram.
During described Nonlinear Tracking Differentiator 531 is generated in the way of transition process arranging according to reamer motor speed Setting signal v
Between signal v1With v2, wherein v1It is the transition process arranging to described reamer motor, v2It is the arrangement transition to described reamer motor
The differential of process.
Described nonlinear extension state observer 532, according to actual controlled quentity controlled variable u of described reamer motor and described strand
Estimate z to calculate state variable for the current rotating speed y of knife motor1、z2With estimating of the total disturbance quantity acting on described reamer motor
Evaluation z3；Wherein z1It is the rotating-speed tracking value of described reamer motor, z2It is that the differential of the rotating-speed tracking value of described reamer motor adds
Speed
Described nonlinear PD control device 533, generates error signal e1=v1-z1And e2=v2-z2, and by error signal e1
With e2It is combined into error feedback control amount u0, form actual controlled quentity controlled variable u=u to described reamer motor0-z3/b；Wherein, b is to mend
Repay the factor.
Reamer motor in synchrony speed-adjusting and control system is centered on PLC 5, in conjunction with frequency converter 2, reamer main transformer
The composition such as 1 and upper PC 6.Every motor is controlled respectively using ADRC control algolithm, two ADRC modules are included model
Disturbance (different operating mode, sea situation), the unification different with the shale of excavation of the depth of feed are considered as the expansion that external disturbance is processed
Open state observer and the control law determining NONLINEAR PD according to error, and with disturbance estimate to error feedback control amount
Compensate.MATLAB software through PC 6 provides reamer left and right motor speed Setting signal v first, then by photoelectric code disk
(increment photoelectric sensor) left and right motor speed signal sampling to reamer, then through the Nonlinear Tracking Differentiator in PLC 5
531 devices, nonlinear PD control device 533 device and nonlinear extension state observer 532 device carry out active disturbance rejection computing, output
Control signal controls frequency converter 2, and the alternating voltage after frequency conversion is driven the left and right motor of reamer to rotate by frequency converter 2 more respectively.Finally
Right motor 4 is stable at rotational speed setup signal v, thus reaching synchronization with described reamer to control the left motor of described reamer 3.
Reamer main transformer 1 capacity of cutter suction dredger is very big, occupies sizable proportion, be ship in full ship load
Visual plant in power system, the impact that it normally runs to network of ship is very big.During normal operation, the excitation electricity of transformer
Stream very little, generally the 1%～2% of rated current.When transformer during no-load closing puts into operation of power networks, in iron core, magnetic flux starts
Remanent magnetism in the iron core with before idle-loaded switching-on, as starting point, is changed by mains voltage waveform integral relation.Saturation due to magnetic flux unshakable in one's determination
And the nonlinear characteristic of core material, exciting current is likely to be breached high numerical value, and waveform can produce Severe distortion, shape simultaneously
Become excitation surge current.Excitation surge current has multiple harm, and excitation surge current may result in the malfunction of transformer relay protecting, substantial amounts of humorous
Ripple can make the Ship Electrical Power System quality of power supply decline, the electromagnetic interference of higher hamonic wave is also by impact transformer ambient electronics
Normal operation.In addition, excitation surge current also will lead to larger transient voltage drop at bus, thus affecting in Ship Electrical Power System it
The normal operation of his electrical equipment.
In order to suppress the excitation surge current producing during transformer during no-load closing, typically take preliminary filling magnetic technology.The present invention is anti-
Only reamer main transformer 1 excitation surge current is excessive, is provided with preliminary filling magnetic transformer 8 and delay switching control circuit 9.
Refer to Fig. 4 and Fig. 5, wherein Fig. 4 is main power source in Fig. 1, reamer main transformer and preliminary filling magnetic transformer
Electrical schematic diagram, Fig. 5 is the electrical schematic diagram of delay switching control circuit.
Described delay switching control circuit 9 includes shutting-brake control coil 909, sub-control gate line circle 910, time-delay relay
911st, separating brake controlling switch 912, shutting-brake control switch the 908, first controlled switch 901, the second controlled switch the 902, the 3rd are controlled
Switch the 903, the 4th controlled switch 904, the 5th controlled switch 905, the 6th controlled switch 906 and the 7th controlled switch 907.
The former limit of described reamer main transformer 1 is connected with main power source by the first controlled switch 901, its secondary and described change
Frequency device 2 connects.
The input of described preliminary filling magnetic transformer 8 is connected with described main power source by the second controlled switch 902, its output end
It is connected with the former limit of described reamer main transformer 1.
Described first controlled switch 901 is controlled by described sub-control gate line circle 910；When described sub-control gate line circle 910 leads to
Close when electric, disconnect when described sub-control gate line circle 910 power-off；
Described second controlled switch 902 is controlled by described shutting-brake control coil 909；When described shutting-brake control coil 909 leads to
Close when electric, disconnect when described shutting-brake control coil 909 power-off；
Described 3rd controlled switch 903 is controlled by described sub-control gate line circle 910；When described sub-control gate line circle 910 leads to
Disconnect when electric, close when described sub-control gate line circle 910 power-off；
Described 4th controlled switch 904 is controlled by described shutting-brake control coil 909；When described shutting-brake control coil 909 leads to
Close when electric, disconnect when described shutting-brake control coil 909 power-off；
Described 5th controlled switch 905 is controlled by described delays time to control coil；When described delays time to control coil electricity, warp
It is closed again after crossing time delay, disconnect when described delays time to control coil blackout；
Described 6th controlled switch 906 is controlled by described sub-control gate line circle 910；When described sub-control gate line circle 910 leads to
Close when electric, disconnect when described sub-control gate line circle 910 power-off；
Described 7th controlled switch 907 is controlled by described shutting-brake control coil 909；When described shutting-brake control coil 909 leads to
Close when electric, disconnect when described shutting-brake control coil 909 power-off；
Described shutting-brake control switch 908, described 3rd controlled switch 903 and described shutting-brake control coil 909 are connected on
In tie point；And described 4th controlled switch 904 is in parallel with described shutting-brake control switch 509；
Described 5th controlled switch 905 is connected on the second branch road with described sub-control gate line circle 910；And the described 6th
Controlled switch 906 is in parallel with described 5th controlled switch 905；
Described 7th controlled switch 907 is connected on the 3rd branch road with described delays time to control coil；
Described tie point, the second branch road and the 3rd branch road two ends connect supply voltage respectively；
Described shutting-brake control switch 908 is open type switch, is used for making described shutting-brake control coil 909 be energized.
Described separating brake controlling switch 912 is connected on described second branch road；Described separating brake controlling switch 912 is opened for closed type
Close, be used for making the power-off of described sub-control gate line circle 910.
The complete operation of described delay switching control circuit 5 is as follows：
1) when device does not work, described shutting-brake control switch the 908, first controlled switch 901, the second controlled switch 902, the
Four controlled switch 904, the 5th controlled switch 905, the 6th controlled switch 906 and the 7th controlled switch 907 disconnect, first
Road, the second branch road and the 3rd branch road are off state；
2) closure described shutting-brake control switch 908, device enters startup stage, tie point path, described shutting-brake control
Coil 909 is energized, thus described second controlled switch 902, the 4th controlled switch 904 and the 7th controlled switch 907 close.
Now, the 4th controlled switch 904 closure can keep the path of tie point, i.e. described shutting-brake control coil 909
Can remain powered on；The closure of the second controlled switch 902 makes the input of described preliminary filling magnetic transformer 8 connect main power source, preliminary filling
Magnetic transformer 8 starts described reamer main transformer 1 is charged；The closure of described 7th controlled switch 907 makes the 3rd branch road also lead to
Road, that is, described time-delay relay 911 be energized；
3) after time delay after a while, described 5th controlled switch 905 closes described time-delay relay 911, and described
Two branch road paths, thus described sub-control gate line circle 910 is energized；Now, the first controlled switch 901 and the 6th controlled switch 906
Closure, the 3rd controlled switch 903 disconnects, and then tie point open circuit, the power-off of described shutting-brake control coil 909, and then second is subject to
Control switch 902, the 4th controlled switch 904, the 7th controlled switch 907 disconnect.Now, main power source was by originally connecing preliminary filling magnetic transformer
8 switch to and connect reamer main transformer 1, switch to working condition from the state of pre-magnetizing.Described 6th controlled switch 906 closes
The second branch road can be made to keep path, that is, allow described sub-control gate line circle 910 remain powered on down in working order.
4) when separating brake controlling switch 912 disconnects, the second branch circuit break, thus the first controlled switch 901 also disconnects, now
This device is closed.
By arranging described preliminary filling magnetic transformer 8, can be in the device work incipient stage in advance to described reamer main transformer pressure
Device 1 magnetizes, and after time delay, then reamer main transformer 1 being connected to main power source, entering normal work stage, thus reduce encouraging
Magnetic shoves, it is to avoid produce larger transient state pressure drop, ensures the normal operation of other electrical equipments in Ship Electrical Power System.
2nd, the Algorithm Analysis of Auto Disturbances Rejection Control Technique.
Nonlinear Tracking Differentiator 531 given below, nonlinear extension state observer 532 and nonlinear PD control device 533
Specific algorithm.
1. Nonlinear Tracking Differentiator 531.Carry out transition process arranging (v1) and carry according to the setting value (v) of input reamer motor speed
Take differential signal (v2), the discrete steepest reponse system of Nonlinear Tracking Differentiator 531 is
Steepest feedback function fhan (v1(k)-v(k),v2(k), r, h) it is variable v1(k)-v(k),v2K (), r, h's is given
Nonlinear function, this function ensure that the real-time of control system, and its expression formula is
In formula (2), define d=rh2For new parameter item, v1K arrangement that () gives v (k) for reamer motor speed is crossed and is tided over
Journey exports, and v2K () is v1The differential of (k), i.e. the acceleration Setting signal of reamer motor；Ts is the systematic sampling time, and r is to determine
Determine the velocity factor of tracking velocity, h is the filtering factor determining filter effect, r, h are regulation parameter, and r value is bigger, and TD follows the tracks of defeated
Enter faster, that is, the rotating speed of reamer motor is more stable.F0(k)、Q(k)、F1(k)、F2(k)、SQ(k), F (k) and SFK () is all certainly
Defined function, belongs to transient process function.Nonlinear Tracking Differentiator 531 (TD) is exactly a kind of signal transacting link in fact, when reamer electricity
When the rotational speed setup (input signal) of machine is undergone mutation, TD can provide smooth output signal as input for controller, makes
Controlled quentity controlled variable exports consecutive variations, will not produce overshoot because of the mutation of input, enhance the stability of system.Fig. 7 a～Fig. 7 c
Transition process arranging for rotational speed setup signal under different parameters for the velocity factor r and its differential curve, can from figure
Go out, r value is bigger, response is faster, and that is, the rotating speed of reamer motor is more stable.
2. nonlinear extension state observer 532, the input signal (u) according to described object and output signal (y) are estimated
System state variables x1And x2Obtain its estimate z1And z2, and obtain acting on estimate z of reamer motor disturbance w simultaneously3, non-
The structure chart of linear extended state observer 532 is as shown in Figure 6.
Controlled device reamer motor is expressed as
In formula, f (x1,x2) it is unknown.Bu is it is known that wherein b is the actual amplification coefficient of controlled device reamer motor.
Unknown portions in controlled device are taken to be x3=f (x1,x2), and rememberW (t) is that the unknown inside of system is disturbed
The summation of dynamic and outside uncertain disturbances, and bounded.Then controlled device reamer motor expansible for new linear control system
Realize the estimation of reamer motor speed by designing nonlinear extension state observer 532, and realize unknown not
Certainty and the estimation of additional interference.It is applied in closed loop PID control, can achieve the control without motor speed measurement,
And realize the compensation to the unknown uncertain and additional interference such as certain operating mode sea situation (as mechanical disturbance).
The nonlinear extension state observer 532 of reamer motor speed regulation system is expressed as discrete form
β in formulai＞ 0 (i=1,2,3), a1=0.5, a2=0.25, b are the actual multiplication factor of reamer motor, take b=1.
Ts is system communication cycle (the same formula of meaning (1)), takes Ts=0.01 here.
The suppression signal that act as of saturation function fal (error, a, δ) is shivered, and is expressed as
Wherein a is nonlinear factor, and δ is the length of linearly interval.
As long as suitable selection parameter β1、β2And β3, nonlinear extension state observer 532 (5) can be estimated containing thanksing for your hospitality well
State variable x of the reamer motor (4) of dynamic item1, x2And the x of the state being expanded3, that is,
z1(t)→x1(t), z2(t)→x2(t), z3(t)→x3(t)=f (x1(t),x2(t)) (7)
In observer formula (5), variable z3T state that () is referred to as expanded.By nonlinear extension state observer 532
(5), can achieve the observation of position, speed and unknown portions to reamer motor (controlled device), enabled using this observer
Without the control of tachometric survey, and can achieve uncertainty (sea situation operating mode) unknown to cutter suction dredger and additional interference (machinery
Disturbance etc.) compensation.
Because nonlinear extension state observer 532 only uses the nominal plant model information of reamer motor, without using it
Realistic model function f () information, therefore, this observer engineering application value is obvious.According to saturation function fal (error, a,
δ) expression formula (6), suitably adjust the actuating quantity of non-linear switching part, power function fal (error, a, δ) is piecewise function,
It is the range of linearity as | error |≤δ, the slope of fal (error, a, δ) isδ is bigger, and linear zone scope is bigger, straight line
Slope is less.I.e. steady-state error error and feedback oscillatorIt is inversely proportional to.Therefore under linear feedback, it is anti-with gain
The mode of ratio carrys out disturbance suppression；It is the power function in saturation nonlinearity region as | error | ＞ δ, be to be come in the way of the order of magnitude
Disturbance suppression, it is big to obtain linear zone slope ratio inelastic region slope, and it is sensitive to act as exporting change during little error, big error time-varying
Change more slow, can effectively reduce the oscillatory of tracking process, reduce overshoot, improve tracking performance.It follows that fal
Function reflects " big error, a little gain；The engineering experience of little error, large gain " characteristic.
3. nonlinear PD control device 533 (Nonlinear Proportion Derivative Controller, NLPD)
Device, belongs to a kind of control of Based on Nonlinear State Feedback (Nonlinear State Error Feedback, NLSEF) form
Device, mainly according to the error e between transient process intermediate variable, system state estimation variable1(k) and e2(k)(e1(k)=v1
(k)-z1(k), e2(k)=v2(k)-z2(k)) determining state error feedback control amount u0The size of (k)；Disturbance estimation compensation device
By state error feedback control amount u0(k) and disturbance estimate z3K () is applied to actual controlled quentity controlled variable u of reamer motor to determine
(k), wherein said state error feedback control amount u0K () is
The actual controlled quentity controlled variable of disturbance compensation is
In formula (8), 0 ＜ a02＜ a01＜ 1.In order to avoid HFO, by power function | e1|asign(e1)、|e2
|asign(e2) be transformed into the continuous power function near initial point with linearity range, i.e. saturation function fal (error, a, δ), its
The same formula of formula expression (6) is consistent.In formula, e1、e2Error, δ in the same formula of meaning (6)1、δ2For linearly interval length, a01、a02
For nonlinear factor, work as a01And a02When both less than 1, fal (e1(k),a01,δ1)、fal(e2(k),a02,δ2) have " big error,
Little gain；The characteristic of little error, large gain ".
In formula (9), b is the parameter of controller, is the compensating factor about disturbance, and parameter b is relevant with controlled device, it
Represent actuating mechanism controls to act on to system dynamic characteristic effect.It is true that it is accurate to be not generally available object
Mathematical Modeling, therefore generally can not obtain the exact value of b, need to do to test and try to gather the approximate evaluation value obtaining b in actual control,
Examination similar to pid control parameter is gathered.With controller gain become big or delayed increase, can suitably increase compensating factor b.
The nonlinear PD control device 533 of the present invention can significantly increase the efficiency of feedback control, and its basis " big error, little
Gain；The principle of little error, large gain ", suitable Selecting All Parameters and linear work are interval, and are split, and different interval
Using different control gains, it is possible to obtain quickly regulating effect.Further, since adopting nonlinear feedback, controlled system is
Carry out disturbance suppression in the way of the order of magnitude, improve control accuracy.Control identical object, reach identical control targe, non-
The proportional gain k of linear feedbackpWith damping gain kdMore than little an order of magnitude than the gain of linear feedback.Therefore, non-linear anti-
The coefficient of the coefficient ratio linear feedback of feedback has larger range of adaptability.
3rd,The MATLAB emulation testing of automatic disturbance rejection controller.
With the reamer motor mathematical model of torque fluctuations, that is, transmission function structure chart such as Fig. 8 shows.In figure introduces external disturbance
, for 50Hz, the disturbance of dutycycle 50% as motor torque ripple, motor model is by two integral element strings for amplitude 2Nm, frequency
Joint group becomes.
(1) experiment of the tracking performance with dynamic parameter NLESO.
By multiple debugging NLESO.m file (the S function file of MATLAB), the dynamic parameter of the NLESO that adjusts is：Ts=
0.01, β1=200, β2=600, β3=6000, Fig. 9 a～Fig. 9 c represents as follow the tracks of NLESO under 95% reamer motor load 3
Expansion state response curve.Z as seen from the figure1、z2And z33 state variables x of the good tracking system of energy1、x2And disturbance
w.
(2) robustness experiment.
In 30%～100% full working scope load range, l-G simulation test is done to reamer motor variable-frequency speed-regulating system, and with
PID control system is compared, and this PID system has certain robustness and antijamming capability.
ADRC is as shown in Figure 10 with reamer motor speed curve under PID control.Keep two kinds adjusted under 90% load to control
Device parameter constant processed, simulation time is 40s, starts to emulate, at 10s, object dynamic performance sports from 30% load
Dynamic characteristic under 60% load, is changed into the object dynamic performance 90% load from 60% load at 20s, it is negative that 30s is changed into 100%
Dynamic characteristic under lotus.The control system whole course simulation curve being given from Figure 10, has the ADRC control of higher robustness energy
System processed can effectively overcome image parameter to change to control, to system, the difficulty brought, under full working scope scope system have good
Control effect, and its PID control system relatively has less overshoot and faster regulating time.
Adjust the control parameter of automatic disturbance rejection controller, concrete numerical value is as follows：In Nonlinear Tracking Differentiator 531, take r=100, h=
0.01；In nonlinear extension state observer 532, take β1=200, β2=600, β3=6000, a1=0.5, a2=0.25, δ=
1；In nonlinear state error feedback, kp=100, kd=10, a01=0.75, a02=0.5, δ1=0.1, δ2=0.2, b=1.
(3) interference--free experiments
Reamer motor still applies 90% load, and simulation time is 40s, adds the step disturbance that amplitude is 120 in 20s.
Anti-interference emulation experiment curve as shown in figure 11 it can be seen that the antijamming capability of ADRC control system is higher, after there is disturbance,
Output pulsation is less, and it is very fast to recover even pace.Figure 11 gives the curve of output of ADRC controlled quentity controlled variable u it can be seen that u simultaneously
Amplitude aperture can meet the actual requirement of engineering, also imply that automatic disturbance rejection controller proposed by the present invention has certain
The value of engineer applied.
4th, beneficial effect.
A kind of reamer motor in synchrony speed-adjusting and control system based on Auto Disturbances Rejection Control Technique of the present invention, by frequency converter 2
Simultaneously drive the left motor of coaxially connected reamer 3 and the right motor of reamer 4；Frequency converter 2 frequency conversion is controlled by automatic disturbance rejection controller；Logical
Cross Nonlinear Tracking Differentiator 531, solve the amplification of reamer motor speed noise, differential signal postpones in error signal, overshoot and response
A difficult problem for contradiction between time；By nonlinear extension state observer 532 device, reamer motor disturbance is estimated in real time
Meter, and generate the elimination signal removing unknown disturbance and object dynamic performance；Nonlinear PD control device 533 passes through to improve reamer
The efficiency of motor speed feedback control it is ensured that the real-time of system, and in nonlinear extension state observer 532 device not
Determine that disturbance compensates, realize the function that controlled device Approximate revision is integration series connection link.
Test result indicate that, a kind of reamer motor in synchrony speed regulating control system based on Auto Disturbances Rejection Control Technique of the present invention
System, its environmental suitability, antijamming capability and robustness are all very strong, are capable of stably quick, accurate synchronous variable-speed in real time
Control, thus improve the operating efficiency of cutter suction dredger, the maintenance reducing dredging plant (reamer, underwater dredge pump etc.) becomes
This, this to improve cutter suction dredger operating efficiency, protection reamer, protection ship machinery, realize dredging automation have great
Meaning, the present invention has higher practical reference value.A kind of reamer based on Auto Disturbances Rejection Control Technique provided by the present invention
Motor in synchrony speed-adjusting and control system, meets the big Dual-motors Driving of load capacity, makes reamer motor speed control process quick, flat
Sliding, it is possible to achieve accurate synchronous variable-speed controls so as to controller can well adapt to geological environment, hydrological characteristics, machine in real time
The uncertainties such as tool disturbance.
The above is only the preferred embodiment of the present invention it is noted that above-mentioned preferred embodiment be not construed as right
The restriction of the present invention.Protection scope of the present invention should be defined by claim limited range.For the art
For those of ordinary skill, without departing from the spirit and scope of the present invention, some improvements and modifications can also be made, these change
Enter and retouch also to should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of reamer motor in synchrony speed-adjusting and control system based on Auto Disturbances Rejection Control Technique it is characterised in that：Including reamer master
The left motor of transformer, frequency converter, reamer, the right motor of reamer and PLC；Described frequency converter includes rectification module, reamer
Left motor inverter module, reamer right motor inverter module, sensor assembly and control module；Described PLC bag
Include an ADRC module and the 2nd ADRC module；
The left motor of described reamer motor coaxle right with described reamer is connected；
Described reamer main transformer is phase-shifting transformer, and its input electrically connects with main power source, its output end and described frequency converter
Rectification module electrical connection；
Described reamer main transformer output AC voltage is converted to DC voltage by described rectification module, and exports respectively to described
Reamer left motor inverter module right motor inverter module with described reamer；
A described ADRC module passes through ADRC algorithm meter according to the current rotating speed of rotational speed setup signal v and the left motor of described reamer
Calculate the actual controlled quentity controlled variable to the left motor of described reamer；Wherein, the current rotating speed of the left motor of described reamer is by described sensor assembly
Obtain and a described ADRC module is fed back to by described control module；
Described 2nd ADRC module passes through ADRC algorithm meter according to the current rotating speed of rotational speed setup signal v and the right motor of described reamer
Calculate the actual controlled quentity controlled variable to the right motor of described reamer；Wherein, the current rotating speed of the right motor of described reamer is by described sensor assembly
Obtain and described 2nd ADRC module is fed back to by described control module；
Described control module generates the first control signal and by the described first control according to the actual controlled quentity controlled variable of the left motor of described reamer
Signal input processed is to the left motor inverter module of described reamer；Described control module is according to the actual control to the right motor of described reamer
Amount processed generates the second control signal and inputs described second control signal to described reamer right motor inverter module；
The DC voltage that described rectification module exports is converted to the first alternating voltage by the left motor inverter module of described reamer, and
The frequency of described first alternating voltage is controlled according to the first control signal of described control module；Described first alternating voltage output
To the left motor of described reamer to drive its rotation；
The DC voltage that described rectification module exports is converted to the second alternating voltage by the right motor inverter module of described reamer,
And control the frequency of described second alternating voltage according to the second control signal of described control module；Described second alternating voltage is defeated
Go out to the right motor of described reamer to drive its rotation；
A described ADRC module, described control module, described reamer left motor inverter module and sensor assembly are constituted
One close loop control circuit；Described 2nd ADRC module, described control module, described reamer right motor inverter module and biography
Sensor module constitutes another close loop control circuit；Two close loop control circuits are respectively by left for described reamer motor and described reamer
The synchronization of right motor is in described rotational speed setup signal v.
2. a kind of reamer motor in synchrony speed-adjusting and control system based on Auto Disturbances Rejection Control Technique according to claim 1, its
It is characterised by：The arbitrary inclusion with described 2nd ADRC module of a described ADRC module
Nonlinear Tracking Differentiator, generates M signal v according to reamer motor speed Setting signal v in the way of transition process arranging1With
v2, wherein v1It is the transition process arranging to described reamer motor, v2It is the micro- of the transition process arranging to described reamer motor
Point；
Nonlinear extension state observer, according to actual controlled quentity controlled variable u of described reamer motor and working as of described reamer motor
Estimate z to calculate state variable for the front rotating speed y1、z2Estimate z with the total disturbance quantity acting on described reamer motor3；Its
Middle z1It is the rotating-speed tracking value of described reamer motor, z2Be the differential of the rotating-speed tracking value of described reamer motor be acceleration；
Nonlinear PD control device, generates error signal e1=v1-z1And e2=v2-z2, and by error signal e1With e2It is combined into by mistake
Difference feedback control amount u0, form actual controlled quentity controlled variable u=u to described reamer motor0-z3/b；Wherein, b is compensating factor.
3. a kind of reamer motor in synchrony speed-adjusting and control system based on Auto Disturbances Rejection Control Technique according to claim 2, its
It is characterised by：
Expression formula in discrete system for the described Nonlinear Tracking Differentiator is
Wherein, Ts is the systematic sampling time, r be determine the velocity factor of tracking velocity, h be determine the filtering of filter effect because
Son；
fhan(v1(k)-v(k),v2(k), r, h) it is variable v1(k)-v(k),v2(k), the given nonlinear function of r, h, its table
Reaching formula is
4. a kind of reamer motor in synchrony speed-adjusting and control system based on Auto Disturbances Rejection Control Technique according to claim 3, its
It is characterised by：
Expression formula in discrete system for the described nonlinear extension state observer is
Wherein, βi＞ 0 (i=1,2,3), a1, a2For custom parameter；
Saturation function fal (error, a, δ) is expressed as
Wherein a is nonlinear factor, and δ is the length of linearly interval.
5. a kind of reamer motor in synchrony speed-adjusting and control system based on Auto Disturbances Rejection Control Technique according to claim 4, its
It is characterised by：
Expression formula in discrete system for the described nonlinear PD control device is
And
Wherein, δ1、δ2For linearly interval length, a01、a02For nonlinear factor, and 0 ＜ a02＜ a01＜ 1.
6. a kind of reamer motor in synchrony speed-adjusting and control system based on Auto Disturbances Rejection Control Technique according to claim 5, its
It is characterised by：
In Nonlinear Tracking Differentiator, take r=100, h=0.01；In nonlinear extension state observer, take β1=200, β2=600, β3
=6000, a1=0.5, a2=0.25, δ=1；In nonlinear PD control device, kp=100, kd=10, a01=0.75, a02=0.5,
δ1=0.1, δ2=0.2, b=1.
7. a kind of reamer motor in synchrony speed-adjusting and control system based on Auto Disturbances Rejection Control Technique according to claim 1, its
It is characterised by：Described reamer main transformer is phase shift three-winding transformer, and its former limit is connected into triangle, and secondary is two windings,
One is connected into triangle, and another is connected into star.
8. a kind of reamer motor in synchrony speed-adjusting and control system based on Auto Disturbances Rejection Control Technique according to claim 7, its
It is characterised by：Described based on the reamer motor in synchrony speed-adjusting and control system of Auto Disturbances Rejection Control Technique also include preliminary filling magnetic transformer,
Delay switching control circuit, the first controlled switch and the second controlled switch；The former limit of described reamer main transformer is subject to by first
Control switch is connected with main power source, and its secondary is connected with described frequency converter；The input of described preliminary filling magnetic transformer is subject to by second
Control switch is connected with described main power source, and its output end is connected with the former limit of described reamer main transformer；
Delay switching control circuit, for controlling the on off state of described first controlled switch and described second controlled switch；Work
Make under state, described delay switching control circuit first controls described first controlled switch to disconnect and controls described second controlled to open
Close closure, so that described preliminary filling magnetic transformer is connected with main power source；Through time delay, described delay switching control circuit controls described the
One controlled switch closes and controls described second controlled switch to disconnect, and so that reamer main transformer is connected with main power source.
9. a kind of reamer motor in synchrony speed-adjusting and control system based on Auto Disturbances Rejection Control Technique according to claim 8, its
It is characterised by：Described a transmission mechanism is also included based on the reamer motor in synchrony speed-adjusting and control system of Auto Disturbances Rejection Control Technique；Bag
Include left clutch, left gear case, right clutch, right gear case and mechanical axis composition；The left motor of described reamer passes through described
Left clutch is connected with described left gear case, and the right motor of described reamer is connected with described right gear case by described right clutch；
Described left gear case becomes paralleled twin-engine structure jointly to drive described mechanical axis with described right gear case；Described mechanical axis and described strand
Knife is rigidly connected.
10. a kind of reamer motor in synchrony speed-adjusting and control system based on Auto Disturbances Rejection Control Technique according to claim 1, its
It is characterised by：Described sensor assembly is photoelectric code disk.
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| CN109625232A (en) * | 2018-12-12 | 2019-04-16 | 江苏科技大学 | A kind of method of the rudder angle control shortest path of electronic full circle swinging of coming about |
| CN111262177B (en) * | 2020-01-13 | 2021-02-12 | 南京航空航天大学 | Sliding mode control method for tree obstacle cleaning robot cutter system |
| CN112558464A (en) * | 2020-09-21 | 2021-03-26 | 上海航天控制技术研究所 | Aircraft controller gain scheduling method adaptive to strong pneumatic nonlinearity |
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