CN106712625B - A kind of asynchronous motor control method based on internal model observer - Google Patents
A kind of asynchronous motor control method based on internal model observer Download PDFInfo
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- CN106712625B CN106712625B CN201710053742.4A CN201710053742A CN106712625B CN 106712625 B CN106712625 B CN 106712625B CN 201710053742 A CN201710053742 A CN 201710053742A CN 106712625 B CN106712625 B CN 106712625B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
Abstract
The invention discloses a kind of asynchronous motor control method based on internal model observer, specifically: reconfigurable control object estimates model first, obtains the model of asynchronous machine electric current loop, and then according to internal model control principle, design internal mode controller；And Two-Degree-of-Freedom Internal Model Control device is designed on the basis of obtained internal mode controller；Then internal model observer is designed on the basis of asynchronous machine state equation, finally matches Two-Degree-of-Freedom Internal Model Control device with internal model observer, realizes the control to asynchronous machine.The present invention is by applying to internal model observer in Two-Degree-of-Freedom Internal Model Control, the design of internal mode controller and the estimation model of control object are closely bound up, and contain the parameter of electric machine in the estimation model of control object, there can be the uncertain disturbances such as some model mismatches, Parameter Perturbation in motor operation course, by introducing internal model observer, disturbance is observed using internal model observer, electric current loop is compensated, to improve system robustness.
Description
Technical field
The invention belongs to variable frequency ac drive technical fields, are related to a kind of asynchronous motor control side based on internal model observer
Method.
Background technique
In technical field of modern motor control, as vector control theory is constantly practical, by complicated asynchronous electricity
Machine mathematical model carries out decoupling control, and Vector Control System of Induction Motor technology is applied widely.
Vector Control System of Induction Motor method includes two parts of revolving speed outer ring and current inner loop, and controller generally selects tradition
PI controller.Traditional PI controller is simple with its structure, is easier to realize and be widely applied among electric machine control system.But
The problems such as influence of traditional PI controller vulnerable to system parameter, there are model mismatch, Parameter Perturbation, poor vulnerabilities to jamming, thus it is right
Some high performance control systems are difficult to reach desired performance requirement.
For the poor robustness that general Vector Control System for Asynchronous Machine changes the parameter of electric machine, propose a kind of based on interior
The Two Degree of Freedom Internal of mould observer.Two-Degree-of-Freedom Internal Model Control is the improvement to traditional internal model control, in tradition
Mould controls only one tunable filter parameter, can only between the tracking performance and Immunity Performance of system compromise, two from
It is exactly one prefilter of increase on the basis of traditional internal mode controller by degree internal model, realizes system Immunity Performance and tracing property
It can separate regulation.But traditional Two-Degree-of-Freedom Internal Model Control device can not be effectively eliminated since model mismatch, Parameter Perturbation etc. are brought
Uncertain disturbances, so the present invention on the basis of Two-Degree-of-Freedom Internal Model Control device, devises internal model observer to estimate
Disturbance, to realize the accurate control of electric current loop.
Summary of the invention
The object of the present invention is to provide a kind of asynchronous motor control methods based on internal model observer, solve traditional internal model
Control existing model mismatch, Parameter Perturbation, vulnerability to jamming difference problem.
The technical scheme adopted by the invention is that a kind of asynchronous motor control method based on internal model observer, is specifically pressed
Following steps are implemented:
Step 1, internal mode controller is designed:
By giving controlled device one and controlled device estimation model consistent as far as possible in parallel, reconfigurable control object estimates mould
Type obtains the model of asynchronous machine electric current loop, is designed according to internal model control principle in conjunction with the model of asynchronous machine electric current loop
Internal mode controller；
Step 2, Two-Degree-of-Freedom Internal Model Control device is designed on the basis of the internal mode controller that step 1 obtains；
Step 3, internal model observer is designed on the basis of asynchronous machine state equation；
Step 4, the internal model observer obtained according to step 2 estimates current inner loop disturbance fdAnd fq, obtained according to step 2
Two-Degree-of-Freedom Internal Model Control device output torque voltage UdWith excitation voltage Uq, and then obtain torque reference voltageIt is encouraged with reference
Magnetoelectricity pressureRealize the control to asynchronous machine.
Feature of the present invention also resides in,
Step 1, specifically:
By giving controlled device one and controlled device estimation model consistent as far as possible in parallel.Provide the control object of reconstruct
Estimate model, the i.e. model of asynchronous machine electric current loop are as follows:
In formula: Rs、RrRespectively stator resistance and rotor resistance, ωsFor field synchronous angular velocity of rotation,For magnetic leakage factor, Ls、Lr、LmThe respectively stator inductance of induction machine, inductor rotor and rotor
Between mutual inductance, s is differential operator.
Asynchronous machine electric current exports expression formula are as follows:
In formula: C (s) is internal mode controller, and G (s) is control target, GnIt (s) is the estimation model of controlled device, E (s)
For feedback error signal, R (s) is the input of control system, and Y (s) is the output of control system, and d (s) is exogenous disturbances；Pass through
After closed loop feedback, system can effective disturbance suppression amount influence, improve anti-interference ability；
According to internal model control principle, when Model Matching, i.e. G (s)=Gn(s), if taking internal mode controller for control pair
It is inverse as model, i.e. Design of Internal Model Controller are as follows:
Step 2 specifically: the internal mode controller obtained to step 1 design increases a prefilter, so that vulnerability to jamming
Two-Degree-of-Freedom Internal Model Control device can be obtained with tracking performance separate regulation.
Step 3 specifically:
Mathematical model under d-q phase orthogonal coordinate system of the asynchronous machine after vector are as follows:
In formula: usd、usqRespectively component of the stator voltage on d, q axis, isd、isqRespectively stator current is on d, q axis
Component, ψsd、ψsqRespectively component of the stator magnetic linkage on d, q axis, ω1For field synchronous angular velocity of rotation；
Wherein, rotor current, flux linkage equations are ignored when motor operation are as follows:
Enable L=σ Ls, by above two formula, and combine Parameter Perturbation and the interference of real system generation additive property, electric current loop
Model can indicate again are as follows:
In formula: Ud、UqFor d-q phase stator voltage, Δ L, Δ R are system parameter undulate quantity；
The total Uncertainty of definition system are as follows:
The design for completing internal model observer, in formula: fd、fqThe Uncertainty of expression system.
Torque reference voltage in step 4With reference excitation voltageExpression be are as follows:
The invention has the advantages that the present invention is by applying to internal model observer in Two-Degree-of-Freedom Internal Model Control, it is interior
The design of mould controller and the estimation model of control object are closely bound up, and join in the estimation model of control object containing motor
It counts, can have the uncertain disturbances such as some model mismatches, Parameter Perturbation in motor operation course, by introducing internal model observer,
Disturbance is observed using internal model observer, electric current loop is compensated, to improve system robustness.
Detailed description of the invention
Fig. 1 is the structural block diagram of control system of the present invention；
Fig. 2 is internal model control active feedback block diagram of the present invention；
Fig. 3 is Two-Degree-of-Freedom Internal Model Control block diagram of the present invention；
Fig. 4 is internal model observer control block diagram of the present invention.
Specific embodiment
Below with reference to the present invention is described in detail with specific embodiment.
The present invention provides a kind of asynchronous motor control methods based on internal model observer, using vector controlled, vector control
System processed includes speed outer ring and current inner loop two parts.As shown in Figure 1, in order to in the two degrees of freedom based on internal model observer
Mould control strategy is furtherd investigate on induction machine, with Two-Degree-of-Freedom Internal Model Control device instead of electric in vector control system
Flow ring PI controller, der Geschwindigkeitkreis use traditional PI controller, the present invention on the basis of Two-Degree-of-Freedom Internal Model Control device, if
Internal model observer is counted to realize current compensation.Specifically implement according to the following steps:
Step 1, the model of asynchronous machine electric current loop is established, internal mode controller is designed:
By giving controlled device one and controlled device estimation model consistent as far as possible in parallel.Provide the control object of reconstruct
Estimate model, the i.e. model of asynchronous machine electric current loop are as follows:
In formula: Rs、RrRespectively stator resistance and rotor resistance, ωsFor field synchronous angular velocity of rotation,For magnetic leakage factor, Ls、Lr、LmMutual inductance respectively between stator inductance, inductor rotor and rotor,
S is differential operator.
Asynchronous machine electric current exports expression formula are as follows:
In formula: C (s) is internal mode controller, and G (s) is control target, GnIt (s) is the estimation model of controlled device, E (s)
For feedback error signal, R (s) is the input of control system, and Y (s) is the output of control system, and d (s) is exogenous disturbances.Pass through
After closed loop feedback, system can effective disturbance suppression amount influence, improve anti-interference ability.
According to internal model control principle, (do not consider to disturb) when Model Matching, i.e. G (s)=Gn(s), if taking internal model control
Device processed is the inverse of control object model, i.e. Design of Internal Model Controller are as follows:
Wherein For the reversible part in object model, in order to make control system canonical,
Filter order is greater than equal to control object order, therefore generally chooses low-pass first order filter.
Internal model control active feedback block diagram is as shown in Fig. 2, relationship between feedback controller M (s) and C (s) are as follows:
Step 2, the Design of Internal Model Controller Two-Degree-of-Freedom Internal Model Control device obtained according to step 1:
As shown in figure 3, by increasing a prefilter to internal mode controller described in step 1, so that vulnerability to jamming
It can be with tracking performance separate regulation.System power output are as follows:
In formula:Two-Degree-of-Freedom Internal Model Control device design when, n should be chosen for so that
Internal mode controller C1(s)、C2(s) minimum value being able to achieve.
The tracking performance and C of control system1(s)、C2(s) related simultaneously, interference free performance and C2(s) related.Therefore,
C can be designed according to system performance of noiseproof2(s), in C2(s) on the basis of adjusting is excellent, C is designed1(s) good to obtain
Input tracking performance.
Step 3, the internal model observer based on Two-Degree-of-Freedom Internal Model Control device is designed:
Internal model observer system structure is as shown in figure 4, L, M, P in block diagram are respectively matrix as described below, k1、k2For
Adjustment parameter.Mathematical model under d-q phase orthogonal coordinate system of the asynchronous machine after vector are as follows:
In formula: usd、usqRespectively component of the stator voltage on d, q axis, isd、isqRespectively stator current is on d, q axis
Component, ψsd、ψsqRespectively component of the stator magnetic linkage on d, q axis, ω1For field synchronous angular velocity of rotation.
Wherein, shown in flux linkage equations such as formula (8):
Enable L=σ Ls, it can be obtained by formula (7) and formula (8):
Formula (9) is arranged, its state equation can be obtained are as follows:
In formula: x=[id iq]T, v=[vd vq]T,
System parameter is depended on by the accuracy of the visible model of formula (9).When the Parameter Perturbation of additive property occurs for real system
When with interference, the state space equation of real system indicates again are as follows:
In formula: Ud、UqFor d-q phase stator voltage, Δ L, Δ R are system parameter undulate quantity.
The total Uncertainty of definition system are as follows:
In formula: fd、fqThe Uncertainty of expression system.
The then state space equation of real system are as follows:
In formula:xb=[fq fd]T。
When the dynamic responding speed of internal model observer is far more than the rate that parameter changes over time, it is believed that in control week
In phase, the value of disturbance is constant, derivative zero, i.e.,
By xbAs extended mode variable, then the extended mode equation of system are as follows:
On the basis of formula (14), internal model observer is constructed are as follows:
In formula:
Disturbance observer, error dynamics equation are constructed by formula (15) are as follows:
It knows to pass through design error state equation parameter K1And K2It can make system Asymptotic Stability, e levels off to zero.
Step 4, by Two-Degree-of-Freedom Internal Model Control device in step 2 it can be concluded that torque voltage UdWith excitation voltage Uq, above-mentioned to set
The internal model observer of meter is estimated that torque disturbance fdF is disturbed with excitationq, as shown in system control block Fig. 1, become for 2r/2s
The torque reference voltage changedEqual to UdAnd fdThe sum of, with reference to excitation voltageSimilarly.Expression formula is as follows:
A kind of asynchronous machine internal model control method of the present invention, including Two-Degree-of-Freedom Internal Model Control device and internal model observer, lead to
It crosses and gives controlled device one and control object estimation model consistent as far as possible in parallel, output valve and the estimation model of controlled device
It is poor that output valve is made, the input terminal of the difference feedback after making difference to internal mode controller, withInternal mode controller is input to after making difference
To inhibit uncertain disturbance.Increase feedforward filter on the basis of traditional internal mode controller, constructs Two-Degree-of-Freedom Internal Model control
System Immunity Performance and tracking performance separate regulation may be implemented in device processed, Two-Degree-of-Freedom Internal Model Control device.It is wanted in some high-performance
Occasion is sought, Two-Degree-of-Freedom Internal Model Control device is unable to satisfy Immunity Performance requirement, therefore increases internal model observer in electric current loop, and internal model is seen
The uncertain disturbance of electric current loop can be observed by surveying device, preferably compensation control be realized to electric current loop, so that the stable state of electric current loop
Fluctuation is smaller, so as to more accurately adjust motor angular velocity.
Claims (3)
1. a kind of asynchronous motor control method based on internal model observer, which is characterized in that specifically implement according to the following steps:
Step 1, internal mode controller is designed:
By the way that controlled device one in parallel, with controlled device estimation model consistent as far as possible, the control object for providing reconstruct is estimated
Model, the i.e. model of asynchronous machine electric current loop are as follows:
In formula: Rs、RrRespectively stator resistance and rotor resistance, ωsFor field synchronous angular velocity of rotation,For magnetic leakage factor, Ls、Lr、LmMutual inductance respectively between stator inductance, inductor rotor and rotor,
S is differential operator；
Asynchronous machine electric current exports expression formula are as follows:
In formula: C (s) is internal mode controller, and G (s) is control target, GnIt (s) is the estimation model of controlled device, E (s) is anti-
Feedforward error signal, R (s) are input, and Y (s) is output, and d (s) is exogenous disturbances；After closed loop feedback, system can effectively inhibit
The influence of disturbance quantity improves anti-interference ability；
Internal mode controller is designed in conjunction with the model of asynchronous machine electric current loop according to internal model control principle；
When Model Matching, i.e. G (s)=Gn(s), if taking internal mode controller is the inverse of control object model, i.e. internal mode controller
Design are as follows:
Wherein For the reversible part in object model；
Step 2, Two-Degree-of-Freedom Internal Model Control device is designed on the basis of the internal mode controller that step 1 obtains；
Step 3, internal model observer is designed on the basis of asynchronous machine state equation, specifically:
Mathematical model under d-q phase orthogonal coordinate system of the asynchronous machine after vector are as follows:
In formula: usd、usqRespectively component of the stator voltage on d, q axis, isd、isqRespectively point of the stator current on d, q axis
Amount, ψsd、ψsqRespectively component of the stator magnetic linkage on d, q axis, ω1For field synchronous angular velocity of rotation；
Wherein, flux linkage equations are as follows:
Enable L=σ Ls,
By above two formula, and real system is combined to occur Parameter Perturbation and the interference of additive property, current loop model can table again
It is shown as:
In formula: Ud、UqFor d-q phase stator voltage, Δ L, Δ R are system parameter undulate quantity；
The total Uncertainty of definition system are as follows:
The design for completing internal model observer, in formula: fd、fqThe Uncertainty of expression system；
Step 4, the internal model observer obtained according to step 3 estimates current inner loop disturbance fdAnd fq, obtained in conjunction with step 2 two
Freedom degree internal mode controller output torque voltage UdWith excitation voltage Uq, and then obtain torque reference voltageWith reference excitation electricity
PressureRealize the control to asynchronous machine.
2. a kind of asynchronous motor control method based on internal model observer according to claim 1, which is characterized in that described
Step 2 specifically: the internal mode controller obtained to step 1 design increases a prefilter, so that Immunity Performance and tracking
Performance separate regulation obtains Two-Degree-of-Freedom Internal Model Control device.
3. a kind of asynchronous motor control method based on internal model observer according to claim 1, which is characterized in that described
Torque reference voltage in step 4With reference excitation voltageExpression formula are as follows:
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