CN107453659A - A kind of aviation switches the method for suppressing torque ripple of fault-tolerant motor with magnetic flux - Google Patents
A kind of aviation switches the method for suppressing torque ripple of fault-tolerant motor with magnetic flux Download PDFInfo
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- CN107453659A CN107453659A CN201710491146.4A CN201710491146A CN107453659A CN 107453659 A CN107453659 A CN 107453659A CN 201710491146 A CN201710491146 A CN 201710491146A CN 107453659 A CN107453659 A CN 107453659A
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Classifications
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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
-
- 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
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
-
- 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
-
- 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
-
- 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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/001—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using fuzzy control
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The present invention provides a kind of magnetic flux for aviation field and switches fault-tolerant motor method for suppressing torque ripple, first, the larger detent force that motor double-salient-pole structure is formed is considered as system disturbance with external disturbance, it is observed using active disturbance rejection observer, and input is fed back to offset influence of the disturbance to system using observation as thermal compensation signal, it is simultaneously the sine degree of raising input current, realize that power of motor converter high frequency is run using GaN types (gallium nitride) broad stopband power electronic devices, by observer time delay TlWith high frequency dead-zone lag time ThAs the input of fuzzy controller, output is the time lag compensation time T needed for systemc, time lag T is predicted using М а р k o в chainscAccumulated error, obtain the adaptive time lag compensation device with forecast function.The present invention reduce steering wheel with magnetic flux switch fault-tolerant motor torque ripple on the basis of, it is suppressed that vibration, noise phenomena such as, compensate for time lag delay, reach improve control control system response output characteristics purpose.
Description
Technical field
Switch the Torque Ripple Reduction side of fault-tolerant motor with magnetic flux the present invention relates to a kind of steering wheel of aircraft electric control field
Method.
Background technology
High reliability motor drive system is very important for aircraft, electric automobile, and fault-tolerant motor is because of it
It is good operate with failure ability and by extensive concern.Switched reluctance machines are simple in construction, have the fundamental characteristics of fault-tolerant motor,
Even running can be ensured by faults-tolerant control, but its efficiency is less than magneto.However, traditional magneto is because forever
Magnet is located at rotor, causes electric machine structure unstable, and permanent magnet is difficult to radiate, and limits answering in high reliability field
With.The stator permanent magnetic type electric occurred in recent years, because permanent magnet and winding are placed in the stator of motor, and on rotor both without around
Group is also without permanent magnet.Therefore, have the advantages that efficiency high, rotor structure are simple and permanent magnet is easy to radiating.And higher gas
Gap magnetic is close and the double-salient-pole structure of rotor causes it to produce larger location torque, so as to trigger the speed ripple of motor, vibration
And noise problem, the normal operation of motor can be even influenceed when serious.
The content of the invention
The present invention is by active disturbance rejection observer, high-frequency power converters, Fuzzy Control based on GaN (gallium nitride) broad stopband device
Device and Markov chain error prediction algorithm processed is combined together, and is reducing the basis of magnetic flux switching fault-tolerant motor torque ripple
On, it is suppressed that vibration, noise phenomena such as, compensate for time lag delay, reach improve control control system response output characteristics mesh
's.
The present invention technical solution be：
First, larger detent force motor double-salient-pole structure formed is considered as system disturbance with external disturbance, using certainly
Anti-interference observer is observed to it, and feeds back to input using observation as thermal compensation signal to offset shadow of the disturbance to system
Ring, while to improve the sine degree of input current, power of motor converter high frequency is realized using GaN (gallium nitride) broad stopband device
Operation.
Meanwhile by observer time delay TlWith high frequency dead-zone lag time ThAs the input of fuzzy controller, output is
Time lag compensation time T needed for systemc, time lag T is predicted using М а р k o в chainscAccumulated error, obtain that there is forecast function
Adaptive time lag compensation device.
By active disturbance rejection observer, the high-frequency power electronic converter based on GaN (gallium nitride) broad stopband device, fuzzy control
Device, the prediction of М а р k o в chains and adaptive time lag compensation device are combined together, and are reducing magnetic flux switching fault-tolerant motor torque ripple
On the basis of, it is suppressed that phenomena such as vibration, noise, time lag delay is compensate for, it is special to reach improvement control control system response output
The purpose of property.
Further, larger detent force motor double-salient-pole structure formed is considered as system disturbance with external disturbance, profit
It is observed with active disturbance rejection observer, and input is fed back to offset disturbance to system using observation as thermal compensation signal
Influence, while to improve the sine degree of input current, motor-driven response speed and the power density of driving transducer,
The high frequency of power inverter is realized using GaN (gallium nitride) broad stopband device.
Further, by observer time delay TlWith high frequency dead-zone lag time ThAs the input of fuzzy controller,
While input/output terminal completes the conversion between continuous domain and integer field, indistinct logic computer is established, and build fuzzy rule
Storehouse, pass through the time lag compensation time T needed for ambiguity solution computing output systemc。
Further, track of setting objectives is equilbrium position 0, to compensating controller coefficientCarry out mesh
Scalar functions balance tracking obtains one group of Adaptive Compensation Control device coefficientI.e.
Establish the new adaptive time lag compensation device with М а р k o в chains prediction time lag.
The beneficial effects of the invention are as follows：A kind of Aircraft Steering Engine switches the method for suppressing torque ripple of fault-tolerant motor with magnetic flux,
By active disturbance rejection observer, the high-frequency power electronic converter based on GaN (gallium nitride) broad stopband device, fuzzy controller, М а р k
O в chains are predicted and adaptive time lag compensation device is combined together, and are reducing the basis of magnetic flux switching fault-tolerant motor torque ripple
On, it is suppressed that vibration, noise phenomena such as, compensate for time lag delay, reach improve control control system response output characteristics mesh
's.
Brief description of the drawings
The structure chart of Fig. 1 fuzzy controllers
Fig. 2 active disturbance rejection observation structure figures
Fig. 3 real number fields are to integer field transition diagram
Fig. 4 high frequency dead-zone lag times ThMembership function
Fig. 5 observers time delay TlMembership function
Fig. 6 time lag compensation times TcMembership function
Embodiment
The preferred embodiment that the invention will now be described in detail with reference to the accompanying drawings.
Embodiment
The larger detent force that motor double-salient-pole structure is formed is considered as system disturbance with external disturbance, online using DOB
Estimation disturbance quantity feeds back to input as thermal compensation signal, to offset influence of the disturbance to system.
The structure that DOB is applied to control system is as shown in Figure 2.Wherein, P (s) is the realistic model of controlled device；Pn(s)
For the nominal model of control object；U is the given input signal of speed ring；Q (s) is low pass filter；FLFor equivalent system
Disturbance；For the disturbance compensation amount of DOB On-line Estimations；V exports for system.
Derived according to Fig. 2, it can be deduced that DOB adds front and rear V (s) transmission functions：
Wherein：
Simultaneously in order to illustrate DOB effect, Q (s)=1 is made, you can derive：
As can be seen from the above equation, as P (s)=Pn(s) when, the disturbance compensation amount of DOB estimation on lineCan be completely counterbalanced by because
System disturbance F caused by Parameter PerturbationL, as P ≠ PnWhen, DOB estimationsNot only include FL, also made comprising systematic uncertainty
Into equivalent interference.
Front and rear V (s) transmission functions are added by formula (1) DOB, when system frequency is less than cut-off frequency, make Q
(s) ≈ 1, if controlled device realistic model is equal to nominal model, i.e. P (s)=Pn(s), thenExplanation system is to ginseng
Number perturbation has preferable robustness；SimultaneouslyIllustrate that DOB can completely inhibit the system disturbance in Q (s) frequency bands.When being
When system frequency is more than cut-off frequency, Q (s) ≈ 0 are made, thenDOB control performance disappears, and is
System features when feature of uniting is with being not introduced into DOB are consistent.
For the reality shown in formula (4) to control object P (s), low pass filter Q (s) can be designed as shown in formula (5)
Form, i.e.,
In formula, N >=| λ | -1, M-N >=λ+m-n.
Design rule is as follows：
(1) system robustness is stronger with the increase of M values, but robust stability dies down because of larger phase delay.
(2) Q (s) relative order have to be larger than or equal to Pn(s) relative order, and Q (s) high frequency dynamic will approach
In 0, low frequency dynamic will be close to 1.
Therefore third-order filter is used：
By selecting different τ values, the different cut-off frequencies of Q (s) are can obtain, and cut-off frequency is not known also by system
The limitation of property and radio-frequency component.
First, meanwhile, by observer time delay TlWith high frequency dead-zone lag time ThAs the input of fuzzy controller,
Output is the time lag compensation time T needed for systemc, whole Fuzzy control system takes dual input, single export structure, and definition quantifies
Factor Kl、KhThe domain of input language variable is converted into discrete limited integer field from the continuous domain of reality, by defining ratio
Factor KcThe domain of output language variable is converted into actual domain output from discrete integer field.
Tl=<Kl*Tl> (7)
Th=<Kh*Th> (8)
Observer time delay TlWith high frequency dead-zone lag time ThFuzzy controller reality can be transformed into by formula (7), (8)
Border inputs Tl、Th, * represents to be multiplied in formula,<>Represent rounding operation.
The output of fuzzy controller can be converted to real output value T by formula (9)c
Tc=Tc*Kc (9)
Motor demand power Pmot is respectively NB, NS, ZE, PS, PM, PB, PVB, PEB, PVEB comprising 9 fuzzy subsets.
Membership function takes normal distribution type (gaussian basis) functionForm, wherein aiFor the central value of function, biFor function
Width.Order with { NB, NS, ZE, PS, PM, PB, PVB, PEB, PVEB } corresponding to Gaussian bases central value be respectively-
20, -10,0,15,30,5,60,75,90 }, its membership function is as shown in Figure 4.
Observer time delay TlComprising fuzzy subset be followed successively by EL, VL, LO, ST, HI, VH, EH.Membership function takes
The form of normal distribution type (gaussian basis) function, order and the center of Gaussian bases corresponding to { EL, VL, LO, ST, HI, VH, EH }
Value is respectively { 0.3,0.4 ... 0.9 }, and its each subset membership function is as shown in Figure 5.
Time lag compensation time TcAs the output of fuzzy controller, comprising fuzzy subset be followed successively by ES, VS, SM, MI,
BG, VB, EB, VEB.Membership function is normal distribution type (gaussian basis) function
Form, setting with { ES, VS, SM, MI, BG, VB, EB, VEB } corresponding to Gaussian bases central value
Respectively { 0,5,10 ... 35 }, its each subset membership function are as shown in Figure 6.
When design has the adaptive time lag compensation device of forecast function, М а р k o в chains are utilized to predict time lag TcAccumulation miss
Difference, in tiMoment, time lag diWhen control input be
Wherein, 0≤di≤dimaxTime lag existing for the expression system a certain moment, ui(t-di), i=1,2 ..., r represent ti
When etching system controller output,In time lag it is d for different system stateiIn the case of feedback control system
Number, x1(t-di), x2(t-di) ... xn(t-di) represent that the status signal transmission of system has time lag, ui(t-di) represent controller
Time lag be present in transmission.
System exports
Wherein, hi(θ (t)) is representedThe final controller output sequence of expression system.
Track of setting objectives is equilbrium position 0, to compensating controller coefficientObject function is carried out to put down
Weighing apparatus tracking obtains one group of Adaptive Compensation Control device coefficientI.e.
Prediction time lag is MdiWhen control input be
Controller exports
Now hi(θ (t)) is representedWhereinTo have the prediction of М а р k o в chains after improvement
The adaptive time lag compensation device of time lag.
Claims (4)
1. a kind of aviation switches the method for suppressing torque ripple of fault-tolerant motor with magnetic flux, it is characterised in that：Comprise the following steps：
First, larger detent force motor double-salient-pole structure formed is considered as system disturbance with external disturbance, utilizes active disturbance rejection
Observer is observed to it, and feeds back to input using observation as thermal compensation signal to offset influence of the disturbance to system,
Simultaneously to improve the sine degree of input current, realize that power of motor converter high frequency is transported using GaN (gallium nitride) broad stopband device
OK.
Meanwhile by observer time delay TlWith high frequency dead-zone lag time ThAs the input of fuzzy controller, output is system
Required time lag compensation time Tc, time lag T is predicted using М а р k o в chainscAccumulated error, obtain that there is the adaptive of forecast function
Answer time lag compensator.
By active disturbance rejection observer, the high-frequency power electronic converter based on GaN (gallium nitride) broad stopband device, fuzzy controller,
М а р k o в chains are predicted and adaptive time lag compensation device is combined together, and are reducing magnetic flux switching fault-tolerant motor torque ripple
On the basis of, it is suppressed that vibration, noise phenomena such as, compensate for time lag delay, reach improvement control control system response output characteristics
Purpose.
2. a kind of aviation as claimed in claim 1 switches the method for suppressing torque ripple of fault-tolerant motor with magnetic flux, its feature exists
In：The larger detent force that motor double-salient-pole structure is formed is considered as system disturbance with external disturbance, utilizes active disturbance rejection observer
It is observed, and input is fed back to offset influence of the disturbance to system using observation as thermal compensation signal, is simultaneously
The power density of the sine degree of input current, motor-driven response speed and driving transducer is improved, using GaN (nitridations
Gallium) broad stopband device realizes the high frequency of power inverter.
3. a kind of aviation as claimed in claim 1 switches the method for suppressing torque ripple of fault-tolerant motor with magnetic flux, its feature exists
In：By observer time delay TlWith high frequency dead-zone lag time ThAs the input of fuzzy controller, output is needed for system
Time lag compensation time Tc, time lag T is predicted using М а р k o в chainscAccumulated error, obtain the adaptive time lag with forecast function
Compensator.
4. a kind of aviation as claimed in claim 3 switches the method for suppressing torque ripple of fault-tolerant motor with magnetic flux, its feature exists
In：By observer time delay TlWith high frequency dead-zone lag time ThIt is complete in input/output terminal as the input of fuzzy controller
Into while conversion between continuous domain and integer field, indistinct logic computer is established, and builds fuzzy rule base, is transported by ambiguity solution
Calculate the time lag compensation time T needed for output systemc。
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| CN201710491146.4A CN107453659A (en) | 2017-06-23 | 2017-06-23 | A kind of aviation switches the method for suppressing torque ripple of fault-tolerant motor with magnetic flux |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109212974A (en) * | 2018-11-12 | 2019-01-15 | 辽宁石油化工大学 | The robust fuzzy of Interval time-varying delay system predicts fault tolerant control method |
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| EP2592998A2 (en) * | 2010-07-15 | 2013-05-22 | The Cleveland Clinic Foundation | Enhancement of the presentation of an athletic event |
| CN104201964A (en) * | 2014-09-12 | 2014-12-10 | 东南大学 | Method for suppressing velocity fluctuation of flux-switching linear motor |
| CN106788089A (en) * | 2017-01-04 | 2017-05-31 | 南京工程学院 | For the velocity fluctuation suppressing method of drive system of electric automobile |
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2017
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2592998A2 (en) * | 2010-07-15 | 2013-05-22 | The Cleveland Clinic Foundation | Enhancement of the presentation of an athletic event |
| CN104201964A (en) * | 2014-09-12 | 2014-12-10 | 东南大学 | Method for suppressing velocity fluctuation of flux-switching linear motor |
| CN106788089A (en) * | 2017-01-04 | 2017-05-31 | 南京工程学院 | For the velocity fluctuation suppressing method of drive system of electric automobile |
Non-Patent Citations (2)
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| JIANGTAO GAI等: "A new fuzzy active-disturbance rejection controller applied in PMSM position servo system", 《17TH INTERNATIONAL CONFERENCE ON ELECTRICAL MACHINES AND SYSTEMS(ICEMS2014)》 * |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109212974A (en) * | 2018-11-12 | 2019-01-15 | 辽宁石油化工大学 | The robust fuzzy of Interval time-varying delay system predicts fault tolerant control method |
| CN109212974B (en) * | 2018-11-12 | 2021-07-13 | 辽宁石油化工大学 | Robust fuzzy prediction fault-tolerant control method of interval time-varying time-delay system |
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Application publication date: 20171208 |