CN107800342A - A kind of bearingless synchronous reluctance motor Second Order Sliding Mode Control method - Google Patents
A kind of bearingless synchronous reluctance motor Second Order Sliding Mode Control method Download PDFInfo
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- CN107800342A CN107800342A CN201711043811.XA CN201711043811A CN107800342A CN 107800342 A CN107800342 A CN 107800342A CN 201711043811 A CN201711043811 A CN 201711043811A CN 107800342 A CN107800342 A CN 107800342A
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- reluctance motor
- synchronous reluctance
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
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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
- H02P21/05—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
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/08—Reluctance motors
- H02P25/098—Arrangements for reducing torque ripple
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Abstract
The invention discloses a kind of bearingless synchronous reluctance motor Second Order Sliding Mode Control method.According to the mathematical modeling of bearingless synchronous reluctance motor, traditional sliding-mode control is applied into rotating speed control, the rotating speed of bearingless synchronous reluctance motor is set to reach desired speed and even running in finite time, Second Order Sliding Mode Control approach application is controlled in x-axis, y-axis radial displacement, x-axis radial displacement and y-axis radial displacement is stabilized to zero in finite time.Rotating speed control based on single order sliding formwork and the Bit andits control based on Second Order Sliding Mode are collectively constituted into sliding mode controller, directly control bearingless synchronous reluctance motor nonlinear system, so as to effectively improve the dynamic characteristic and riding quality of bearingless synchronous reluctance motor, the robustness of strengthening system, the chattering phenomenon of weakening system, and it is beneficial to Project Realization.
Description
Technical field
The present invention is a kind of bearingless synchronous reluctance motor Second Order Sliding Mode Control method, suitable for bearing-free synchronous reluctance electricity
The High-performance non-linear control of machine, belongs to electrical drive control system technical field.
Background technology
Magnetic bearing technology and conventional synchronization reluctance motor are combined by bearingless synchronous reluctance motor, have magnetic bearing high
The characteristics of fast, high-precision, unlubricated, without friction, non-maintaining contour performance driving.Simultaneously as rotor is without permanent magnet and excitation
Winding, has simple in construction, and cost is low, and small, efficiency high is lost, the advantages such as temperature rise is low, in Aero-Space, high-speed driving, ultrapure
The special occasions such as net medication chemistry, adverse circumstances, high temperature have broad application prospects.
Bearingless synchronous reluctance motor is a multivariable, the nonlinear system of close coupling.Motor is in suspension operation, electricity
Between magnetic torque and radial suspension force and radial suspension force intercouples from existing in two degrees of freedom, it is necessary to using effective
Control strategy realizes the Nonlinear Decoupling control of bearingless synchronous reluctance motor.
Lot of domestic and foreign scholar has made intensive studies to this, and it is same that some advanced control strategies are also applied to bearing-free
Walk in reluctance motor system, such as feed-forward compensator control, inverse system, Neural network inverse control, SVMs control.So
And the system design based on above-mentioned control strategy is complicated, it is difficult to be promoted in engineer applied.Sliding formwork control is as a kind of non-
Linear control strategies, it is not high to the precise requirements of mathematical modeling, to model parameter change, load disturbance and Unmarried pregnancy etc.
Uncertain factor is adaptively strong, has a stronger robustness, and physics realization is simple.Therefore this method has obtained many scholars'
Concern.
Number of patent application 201610722763.6, it is entitled：A kind of induction-type bearingless motor based on new Reaching Law is slided
Mould control method, sliding formwork control is carried out to speed, has been directed to induction-type bearingless motor.And the present invention is directed bearing-free
Synchronous magnetic resistance motor, the method being combined using traditional sliding formwork control and Second Order Sliding Mode Control, rotating speed and displacement are carried out direct
Control, the riding quality of bearingless synchronous reluctance motor is effectively improved, add system rejection to disturbance, reduced and buffet, control
System strategy is simple, is easy to Project Realization.
The content of the invention
The purpose of the present invention is to propose to a kind of bearingless synchronous reluctance motor Second Order Sliding Mode Control method, and it is same to solve bearing-free
Reluctance motor control system is walked poor compared with control performance under large disturbances the problem of, improves bearingless synchronous reluctance motor system
Response speed, reduce overshoot, strengthen robustness, make whole control system that there is good control performance.The technical side of the present invention
Case is as follows：
(1) state equation of bearingless synchronous reluctance motor is established,
(2) choose and slide variable,
(3) step (1) and step (2) are based on, designs sliding formwork control ratio u1、u2And u3, it is respectively
In formula,β21＞ 0, β22＞ 0, β1＞
0, β2＞ 0 is controller gain to be chosen, and sign () is sign function.
(4) utilize and add exponential integral technology and finite time Lyapunov stable theories, it was demonstrated that control law u1、u2And u3Having
Make three to slide variable in limited time and be all stabilized to zero.
(5) by control law u1Controlled for rotating speed, Second Order Sliding Mode Control rule u2Controlled for x-axis radial displacement, Second Order Sliding Mode
Control law u3Controlled for y-axis radial displacement.Three control laws are combined, and form sliding mode controller, are realized synchronous to bearing-free
The nonlinear Control of reluctance motor.
The advantage of the invention is that：
(1) present invention devises a kind of Second Order Sliding Mode Control method of bearingless synchronous reluctance motor.To with 5 states
The bearingless synchronous reluctance motor system progress uneoupled control of non-linear, close coupling the output of 3 input 3 of variable is relatively difficult,
And rotating speed and displacement are independently controlled according to Second Order Sliding Mode Control theory, efficiently solve in bearingless synchronous reluctance motor
The coupled problem in portion, and high performance rotating speed, radial displacement control and stable suspension and behavior in service can be obtained.
(2) the non-linear directly control of bearingless synchronous reluctance motor is realized using this Second Order Sliding Mode Control method, gram
Take the system complex of the control algolithms such as inverse system, nerve network reverse, SVMs and realize the defects of difficult.Using second order
The bearingless synchronous reluctance motor Control system architecture of sliding-mode control is relatively simple, and fast response time, overshoot is small, effectively cuts
Weak system chatter, and realize convenient, there is important actual application value.
Brief description of the drawings
Fig. 1 is bearingless synchronous reluctance motor Second Order Sliding Mode Control device structure chart.
Fig. 2 is bearingless synchronous reluctance motor composite controlled object and its isoboles.
Fig. 3 is bearingless synchronous reluctance motor Second Order Sliding Mode Control system block diagram.
Fig. 4 is the software flow figure using DSP as the realization present invention of controller, and Fig. 4 (a) is main program flow chart,
Fig. 4 (b) is interrupt service subroutine flow chart.
Fig. 5 is bearingless synchronous reluctance motor Second Order Sliding Mode Control design flow diagram.
Fig. 6 is the control result oscillogram of bearingless synchronous reluctance motor Second Order Sliding Mode Control proposed by the present invention：(a) it is
Rotating speed x5Response process, (b) is x-axis radial displacement x1Response process, (c) is y-axis radial displacement x2Response process.
Embodiment
Present invention specific implementation divides the following steps：
1st, the mathematical modeling of bearingless synchronous reluctance motor is established.If state variable isSystem input is u=[u1 u2 u3]T=[iq ix
iy]T, system output is y=[y1 y2 y3]T=[x y ω]T, then the mathematical modeling state side of bearingless synchronous reluctance motor
The form of journey is represented by as follows：
In formula, m is rotor quality, Km1、Km2、ksIt is constant, idIt is stator current d axis components, PMIt is torque winding pole
Logarithm, J are rotor moment of inertias, LdIt is motor d axle inductances, LqIt is motor q axle inductances, TLIt is load torque, FzxIt is along x-axis side
Upwards outer applies radial load, FzyBe along the y-axis direction on outer apply radial load.
2nd, according to system state equation (1), choose and slide variable, it is as follows：
Wherein x1d、x2dAnd x5dThe respectively state variable x of two degrees of freedom bearingless synchronous reluctance motor1Desired value, shape
State variable x2Desired value and state variable x5Expection given rotating speed.
Second Order Sliding Mode kinetics equation can be obtained with reference to system state equation (1) and slip variable (2), it is as follows：
Order
Then (3) formula is rewritable is
3rd, by (4) formula, new sliding formwork control ratio u is designed1、u2And u3, it is respectively
In formula,β21＞ 0, β22＞ 0, β1＞
0, β2＞ 0 is controller gain to be chosen.
4th, using adding exponential integral technology and finite time Lyapunov stable theories, it was demonstrated that control law u1、u2And u3Limited
Time interior energy makes selected slip variable all be stabilized to zero, i.e. state variable x1、x2And x5All it is stabilized to expected set-point.
5th, by control law u1Controlled for rotating speed, Second Order Sliding Mode Control is restrained into u2Controlled for x-axis radial displacement, by second order
Sliding formwork control ratio u3Controlled for y-axis radial displacement.Three control laws collectively constitute Second Order Sliding Mode Control device, synchronous to bearing-free
Reluctance motor nonlinear system is directly controlled.
To verify the validity of the method, given rotating speed x5d=8000r/min, given state variable x1Desired value x1d=
0, given state variable x2Desired value x2d=0, and assume the interference d in x, y direction1(t)=5sin (2t)+5cos (5t), d2
(t)=5sin (2t)+5cos (5t).Take original state (x1(0),x3(0))=(- 10-4, 0), (x2(0),x4(0))=(- 10-4,
0), β21=5000, β22=8000, β1=100, β2=120, k6=1.6 × 105.Simulation result such as Fig. 6 (a), Fig. 6 (b) and Fig. 6
(c).Visible by Fig. 6 (a), Fig. 6 (b) and Fig. 6 (c), Second Order Sliding Mode method can make bearingless synchronous reluctance motor realize rotating speed
Independent control between radial displacement, dynamic response is fast, and overshoot is small, and system has good anti-interference.
Fig. 1 gives the structure chart of bearingless synchronous reluctance motor Second Order Sliding Mode Control device.In Fig. 1, e is defined1=x1-
x1d, e2=x2-x2d, e3=x5-x5d.As shown in figure 1, can be required according to different controls using different hardware and softwares come
Realize.Fig. 2 gives bearingless synchronous reluctance motor composite controlled object and its isoboles.Fig. 3 gives bearing-free synchronization magnetic
Hinder motor Second Order Sliding Mode Control system block diagram.Controlled pair non-linear to bearingless synchronous reluctance motor by Second Order Sliding Mode Control device
As directly being controlled.Fig. 4 gives the software flow figure using DSP as the realization present invention of controller, mainly by main journey
Sequence module and interrupt service subroutine module composition.Fig. 4 (a) is main program module, main to complete initialization, display initial value, follow
The functions such as ring wait, Fig. 4 (b) are bearingless synchronous reluctance motor rotating speed, position control interrupt service subroutine module, and they are
The kernel program module that system is realized, the main independent control for completing bearingless synchronous reluctance motor electromagnetic torque and radial suspension force
System.Fig. 5 gives bearingless synchronous reluctance motor Second Order Sliding Mode Control design flow diagram.Fig. 6 gives rotating speed and x, y direction
The sliding formwork control analogous diagram of radial displacement.
In accordance with the above, the present invention can be realized.To those skilled in the art without departing substantially from the present invention spirit and
The other changes and modifications made in the case of protection domain, are included within protection scope of the present invention.
Claims (4)
- A kind of 1. bearingless synchronous reluctance motor Second Order Sliding Mode Control method, it is characterised in that transport the method for conventional first order sliding formwork Controlled for rotating speed, the rotating speed of bearingless synchronous reluctance motor is reached desired speed and even running, x in finite time Second Order Sliding Mode Control method is used in axle, y-axis radial displacement control, x-axis is restrained in finite time with y-axis radial displacement To zero；The control of this single order sliding formwork rotating speed and two Second Order Sliding Mode Bit andits controls are collectively constituted into sliding mode controller, directly control nothing Bearing synchronous magnetic resistance motor nonlinear system.
- 2. bearingless synchronous reluctance motor Second Order Sliding Mode Control method according to claim 1, it is characterised in that：Park inverse transformations in bearingless synchronous reluctance motor system, Clark inverse transformations and CRPWM inverters are combined into extension Hysteresis Current inverter circuit, collectively form bearing-free with bearingless synchronous reluctance motor torque subsystem and suspending power subsystem Synchronous magnetic resistance motor composite controlled object.Torque subsystem uses the vector control method of constant excitation megnet electric current, i.e. torque winding Excitation current component idFor constant, by adjusting current component iqTo adjust electromagnetic torque.Establish the mathematical modeling of bearingless synchronous reluctance motor composite controlled object.If state variable is x=[x1 x2 x3 x4 x5]T=[x y x y ω]T, system input is u=[u1 u2 u3]T=[iq ix iy]T, system output is y=[y1 y2 y3]T =[x y ω]T, then the form of the mathematical modeling state equation of bearingless synchronous reluctance motor composite controlled object can represent To be as follows：In formula, m is rotor quality, Km1、Km2、ksIt is the coefficient related to electric machine structure, idIt is torque winding current d axis components (torque winding uses vector control technology, exciting current idIt is constant), PMIt is torque winding number of pole-pairs, J is rotor moment of inertia, LdIt is motor d axle inductances, LqIt is motor q axle inductances, TLIt is load torque, FzxAnd FzyRespectively along outer in x-axis and y-axis direction Apply radial load (FzyInclude gravity).
- 3. bearingless synchronous reluctance motor Second Order Sliding Mode Control method according to claim 1, it is characterised in that：S1, choosing slip variable is：Wherein x1d、x2dAnd x5dThe respectively state variable x of bearingless synchronous reluctance motor1、x2Expection give displacement and state Variable x5Expection given rotating speed.Second Order Sliding Mode kinetics equation can be obtained with reference to claim 2 and selected slip variable, it is as follows：Order Then Second Order Sliding Mode kinetics equation is rewritable isS2, by S1, design sliding formwork control ratio u1、u2And u3, it is respectivelyIn formula,β21>0, β22>0, β1>0, β2>0 is to be selected The controller gain taken, sign () are sign function.S3, using adding exponential integral technology and finite time Lyapunov stable theories, it was demonstrated that control law u1、u2And u3When limited Between interior energy make the slip variable s of selection1、s2、s3It is stabilized to zero.
- 4. according to claim 3, by sliding formwork control ratio u1Controlled for rotating speed, Second Order Sliding Mode Control is restrained into u2For x-axis radial direction position Control is moved, Second Order Sliding Mode Control is restrained into u3Control, realized to the non-linear of bearingless synchronous reluctance motor for y-axis radial displacement Control.
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Cited By (2)
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| CN109687798A (en) * | 2019-01-08 | 2019-04-26 | 江苏大学 | Mix stator magnetic suspension switched reluctance motor suspension system high_order sliding mode control method |
| CN110109397A (en) * | 2019-05-10 | 2019-08-09 | 河北工业大学 | Design of electrical motor and control collaboration coupled system and method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109687798A (en) * | 2019-01-08 | 2019-04-26 | 江苏大学 | Mix stator magnetic suspension switched reluctance motor suspension system high_order sliding mode control method |
| CN110109397A (en) * | 2019-05-10 | 2019-08-09 | 河北工业大学 | Design of electrical motor and control collaboration coupled system and method |
| CN110109397B (en) * | 2019-05-10 | 2020-12-04 | 河北工业大学 | Motor design and control cooperative coupling system and method |
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