CN113300644B - Nacelle propulsion motor sliding mode control method based on compact-format dynamic linearization - Google Patents
Nacelle propulsion motor sliding mode control method based on compact-format dynamic linearization Download PDFInfo
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- H—ELECTRICITY
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- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
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- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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- H02P25/022—Synchronous motors
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- 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
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Abstract
The invention discloses a nacelle propulsion motor sliding mode control method based on compact format dynamic linearization, which is suitable for controlling a nacelle propulsion motor. The method comprises the following steps: establishing a pod propulsion motor dynamic model; establishing a compact-format dynamic linearized data model of a pod propulsion motor dynamic model based on the pseudo partial derivative; designing a control law and an estimation law of the sliding mode control method; aiming at a disturbance item in an estimation control law, designing an extended state observer to estimate load disturbance and unknown disturbance in a control system; aiming at the influence of unmodeled dynamics on the performance of a control system, a sliding mode control scheme of a series compact-format dynamic linearized model is designed to improve the control performance of the system. The invention combines the advantages of a compact format dynamic linearization method and sliding mode control, and effectively improves the dynamic performance and the steady-state performance of the pod propulsion motor control system.
Description
Technical Field
The invention belongs to the technical field of ship electric propeller control, and designs a nacelle propulsion motor sliding mode control scheme based on compact form dynamic linearization by using a data driving idea.
Background
The semi-submersible ship is a ship specially used for transporting ultra-large integral equipment and extra-heavy large parts which cannot be separated, and underwater operation needs to be completed by accurate positioning of a dynamic positioning system when submerging and floating are carried out, so that the semi-submersible ship has higher performance requirements on a pod propeller. The pod type electric propulsion is the most advanced ship electric propulsion system at present, and pod propellers in the system improve the hydrodynamic performance of a ship and optimize the design of a hull structure and pods. The Permanent Magnet Synchronous Motor (PMSM) has the characteristics of small volume and high efficiency, is used in a pod type electric propulsion system as a propulsion motor, not only improves the efficiency of a propeller, but also has higher reliability and stability, so that the research on the control performance of the permanent magnet synchronous propulsion motor also becomes a hotspot of the research on the current ship positioning control system.
At present, a plurality of advanced algorithms are used for improving the control performance of the permanent magnet synchronous motor and reducing the influence caused by disturbance, such as model-based adaptive control, variable-structure sliding mode control, model prediction control and the like. The porker and the like provide a nonlinear model predictive control method aiming at the rotating speed control of the permanent magnet motor, decoupling is carried out through an input-output feedback linearization strategy to form a new linear system, nonlinear constraint generated by input-output feedback linearization is processed by utilizing an iterative quadratic programming method, the calculated amount is effectively reduced, and the dynamic control performance is improved. In the traditional PI control, a load torque observer is designed according to the principle of a Longberger linear observer, and an observed value is fed back to the design of a sliding mode controller, so that the load disturbance resistance of the system is improved, and the stability of the system is enhanced. SIRA-RAMIREZ H introduces an active disturbance rejection control scheme suitable for a large-disturbance uncertain permanent magnet synchronous motor angular velocity track tracking task, and a high-gain extended observer is used for improving disturbance observation precision. By adopting load torque as an expansion state and adopting the motor rotating speed and the load torque as observation objects, the fed-forward compensation sliding mode control provided by Zhang Xiao et al effectively weakens the buffeting of the system. The controllers of the control system are mostly designed based on mathematical models, and on the premise of knowing an accurate mathematical model, the control performance of the permanent magnet synchronous motor can be improved to a certain extent by designing appropriate controller parameters, but the PMSM is a multivariable, strong-coupling and nonlinear complex object, and the nacelle propulsion motor of the semi-submersible ship is severe in working environment and is particularly susceptible to propeller load disturbance. When the system is influenced by factors such as internal parameter change or external disturbance, the conventional model-based control strategy has the problems of unmodeled dynamics and incapability of establishing an accurate model, so that the requirement of high-performance control of the pod propulsion motor cannot be met.
Disclosure of Invention
The invention aims to improve the rotating speed control performance of the propulsion motor of the semi-submersible ship nacelle and reduce the influence of disturbance on a control system of the propulsion motor of the ship nacelle; a compact-format dynamic linearization method and a sliding mode variable structure control method are fused, and a sliding mode control scheme based on compact-format dynamic linearization is provided; simultaneously introducing an extended state observer, adding an observed value into a control rate, and performing disturbance compensation on a control system; and finally, designing a sliding mode control scheme of the pod propulsion motor based on the compact-format dynamic linearization in series.
In order to achieve the purpose of the invention, the invention adopts the following design scheme:
(1) building a pod propulsion motor dynamic model and discretizing:
1) considering that the torque performance requirement of a pod propulsion motor is higher, i is adopted dw ＝0(i dw Current value set for d axis) is convenient to calculate and has no demagnetization problem of an armature reaction motor, and a propulsion motor torque equation of the permanent magnet synchronous motor under a d-q coordinate system is as follows:
wherein, T e Is electromagnetic torque, p is the number of pole pairs of the motor,
is a permanent magnet and a stator interlinkage flux, i q Is the q-axis current;
the motion equation of the permanent magnet synchronous motor is as follows:
wherein, ω is 2 π n/60, n is the output rotation speed of the propulsion motor, T L Is the load torque, J is the moment of inertia, F is the coefficient of friction of the pod propulsion motor, K Q Is the torque coefficient, ρ is the density of water, D is the propeller diameter, f ld (k) Unknown disturbance influencing the rotating speed of the propulsion motor at the moment k is defined;
2) a system equation of the discrete rotating speed of the pod propulsion motor is established according to the motion equation as follows:
wherein n (k +1) is the output rotation speed of the propulsion motor at the moment k +1, n (k) is the output rotation speed of the propulsion motor at the moment k, i q (k) Q-axis current at the moment k, and h is sampling time;
(2) establishing a compact-format dynamic linearized data model by utilizing the concept of pseudo partial derivatives and combining a discrete rotating speed system equation of a pod propulsion motor:
1) the pod propulsion motor is a non-linear system that can be represented as:
n(k+1)＝f(n(k),n(k-1),…,n(k-l y ),i q (k),i q (k-1),…,i q (k-l u ))+f AL (k)
wherein f is AL (k) Representing the total disturbance signal of the system, including load disturbance and unknown disturbance f ld (k) F (-) is a non-linear function, l y ，l u e.R is the unknown order of the system, and the order is as follows:
n m (k+1)＝f(n(k),n(k-1),…,n(k-l y ),i q (k),i q (k-1),…,i q (k-l u ))
the pod propulsion motor system can be rewritten as:
n(k+1)＝n m (k+1)+f AL (k)
for pod propulsion motor systems, when | Δ i q (k) With | ≠ 0, there must be a quantity φ (k) called partial derivative, such that:
Δn m (k+1)＝φ(k)Δi q (k)
then:
Δn(k+1)＝φ(k)Δi q (k)+Δf AL (k)
where φ (k) is the pseudo-partial derivative of the velocity loop control law, Δ f AL (k)＝f AL (k)-f AL (k-1) is the variation of the total disturbance signal of the system from the moment k-1 to the moment k;
2) the pod propulsion motor system may use the following parameter estimation algorithm to find the estimate of the pseudo-partial derivative of the speed loop control law, taking into account the following criteria function:
by solving for
The estimation law of the pseudo partial derivative of the speed loop can be obtained:
when in use
Or | Δ i q (k-1)|≤α，
Wherein eta belongs to (0, 1) is a step factor of a speed loop control law, so that the algorithm is more general, and alpha is a constant greater than 0;
(3) the design of a sliding mode controller in a sliding mode control method of a pod propulsion motor based on compact form dynamic linearization comprises the following steps:
1) defining a sliding mode plane function as:
s(k)＝e(k)+ce(k-1)
wherein c is a constant greater than 0, thus the formed error polynomial is a stable polynomial, and e (k) is a rotation speed tracking error, which is defined as follows:
e(k)＝n w (k)-n(k)
wherein n is w (k) For the expected output speed of the propulsion motor at the moment k, the following approximation law is adopted:
s(k+1)＝(1-d)s(k)-εsgn(s(k))
wherein d and epsilon are constants larger than 0;
the equivalent control is as follows:
s(k+1)＝(1-d)s(k)-εsgn(s(k))＝e(k+1)+ce(k)
2) the mathematical model after the pod propulsion motor is subjected to the compact-format dynamic linearization is combined with the sliding mode control, so that the sliding mode control scheme of the pod propulsion motor based on the compact-format dynamic linearization is as follows:
where σ > 0 is a weight coefficient and n w (k +1) is the desired output speed of the propulsion motor at time k +1, i qw (k) The desired current for the q-axis at time k,
sgn (·) is a sign function, and is the variation of the estimated value of the total disturbance signal of the system from the moment k-1 to the moment k;
(4) designing an extended state observer, and carrying out total disturbance signal f in a nacelle propulsion motor sliding mode control scheme based on compact form dynamic linearization AL (k) And (3) estimating:
order:
wherein x is 2 (k) To expand state variables, i.e.
The first order system of the pod propulsion motor can be expanded as:
definition e l (k) For the output speed error of the propulsion motor in the observer, a second-order extended state observer can be constructed as follows:
wherein, beta 1 、β 2 、β 3 The parameters of the extended state observer in the system are all larger than 0, z 1 (k) For estimating the output speed of a propulsion motor in an extended state observer
z 2 (k) For estimating total disturbance signal in extended state observer
arsh (-) is an inverse hyperbolic sine function;
(5) designing a sliding mode control method of a pod propulsion motor based on a compact-format dynamic linearization model in series:
the inner current loop is used as a secondary loop of a propulsion motor rotating speed system, a nacelle propulsion motor sliding mode controller based on a compact format dynamic linearization model is adopted to replace an original current PI controller for secondary adjustment, the inner current loop adopts a nacelle propulsion motor sliding mode control method based on compact format dynamic linearization, and forms a cascade control structure with the speed loop, and the inner current loop control method is different from the speed outer loop in that the quadrature axis current is used as output, and u is used as output, and u is used as output power q (k) The design of the controller can refer to the design of a previous rotating speed loop controller, a secondary control loop adopts a method based on data drive control, the influence of unmodeled dynamics on the system is reduced, the control performance of a propulsion motor rotating speed system is improved, and the control scheme is as follows:
wherein eta is 1 ∈(0,1]Is the step factor, mu, of the inner current loop control law 1 Greater than 0 is the weight factor of the internal current loop control law, σ 1 > 0 is a weight coefficient for limiting the q-axis voltage variation, alpha 1 、d 1 、ε 1 Are all constants which are greater than 0 and are,
estimated value of pseudo partial derivative of internal current loop control law, e 1 (k) For the q-axis current tracking error, defined as e 1 (k)＝i qw (k)-i q (k)，u qw (k) For desired voltage of q-axis, u q (k-1) is the q-axis voltage at time k-1, Δ u q (k-1)＝u q (k-1)-u q (k-2)。
Further, the step (2) integrates the internal disturbance and the external disturbance into a total system disturbance signal f when the system disturbance is processed in the scheme of the invention AL (k) Fed back into the control system. Total disturbance signal f AL (k) Including load disturbances and unknown disturbances f ld (k) Wherein the load torque expression is:
T L ＝K Q ρD 5 n 2
the load torque is known to change along with the change of the rotating speed of the propulsion motor, the disturbance caused by the load change and the unknown disturbance are superposed to form the nonlinear-change disturbance, the two disturbances are used as the total disturbance to be treated reasonably, the total disturbance is observed by combining the extended state observer constructed in the step (4), the observation result is added into a control law, the comprehensiveness of a real nacelle propulsion motor system is considered, and the complexity of formula derivation calculation is reduced.
Further, the means for determining the internal state variables of the system based on the observation of the external variables in step (4) is a state observer, i.e. a means for determining all internal state information of the system based on the measured control variables and part of the state variables or functions of the state variables, using the undisturbed current i q Inputting a pod propulsion motor model to obtain that the system is not subjected to internal disturbance and external loadThe disturbed motor rotating speed and the observed quantity of the expansion state are used for carrying out disturbance compensation on the system by utilizing the disturbance estimated value, and the system stability can be improved by carrying out the disturbance compensation before the disturbance influence is generated.
Further, the inner loop of the current loop in the step (5) adopts a data-driven control-based method, namely a nacelle propulsion motor sliding mode control method based on compact format dynamic linearization:
1) the input and output of the nacelle propulsion motor system are observable and controllable, giving a bounded desired output signal i qw (k +1) there is always a bounded input signal that causes the system to output an output equal to the desired output i of the system driven by this control input signal qw (k +1), f (-) with respect to the control input signal u q (k) The partial derivative of (c) is present and continuous, and the system is satisfied with generalized Lipschitz, i.e., with the sum | Δ u for any k time q (k) | ≠ 0 has:
Δi q (k+1)＝φ 1 (k)Δu q (k)
2) and (3) solving the pseudo partial derivative estimation value of the internal current loop control law by adopting the following parameter estimation algorithm:
when in use
Or | Δ u q (k-1)|≤α 1 ，
Wherein,
is an estimate of the pseudo-partial derivative, η, of the inner current loop control law 1 ∈(0,1]Is the step factor, alpha, of the control law of the inner current loop 1 Is a constant greater than 0;
3) the internal current loop also adopts a method based on data driving control, and the control scheme of the internal current loop obtained by combining the estimation law and the step (3) is as follows:
has the advantages that:
1. aiming at the problem that the dynamic and steady-state performance of a system is poor due to the fact that a nacelle propulsion motor is complex in working environment and is easily affected by disturbance, a control strategy integrating data driving control and sliding mode variable structure control is provided, only I/O data is used for system control, and the advantage that a precise mathematical model is not needed for tight format dynamic linearization and the advantage that sliding mode control has strong robustness to disturbance are combined.
2. In order to solve the contradiction between strong robustness and system buffeting generation in sliding mode control, an extended state observer is constructed, disturbance is used as an extended state variable, an estimated value is obtained and added to a pod propulsion motor sliding mode control scheme based on compact form dynamic linearization, and system buffeting is effectively reduced.
3. Compared with the rotating speed and torque changes of the nacelle propulsion motor during constant-speed and variable-speed operation of the nacelle propulsion motor based on the compact-format dynamic linearization control scheme and the PI control scheme, under the same simulation environment, the rotating speed response of the nacelle propulsion motor sliding-mode control scheme based on the compact-format dynamic linearization is faster and smaller in overshoot, and the torque pulse is obviously reduced. Therefore, the scheme effectively improves the dynamic performance and the steady-state performance of the system and reduces the influence caused by disturbance.
Drawings
FIG. 1 is a flow chart of a nacelle propulsion motor sliding mode control scheme based on tight format dynamic linearization;
FIG. 2 is a view of the extended observer structure proposed by the present invention;
FIG. 3 is a structural diagram of a speed regulating system of a propulsion motor of a lifting cabin of a semi-submersible ship, which is provided by the invention;
FIG. 4 is a structure diagram of a PI speed regulation system of a propulsion motor of a semi-submersible vessel nacelle in the prior art;
FIG. 5 is a comparison of the presence and absence of an extended state observer under the control strategy proposed by the present invention;
fig. 6 is a comparison graph of the rotational speed and torque of the propulsion motor under the control strategy provided by the invention and the PI vector control.
Detailed Description
As described above, when the semi-submersible ship nacelle propulsion motor works on the sea, the semi-submersible ship nacelle propulsion motor is easily influenced by unknown factors such as sea waves and sea winds, and in order to improve the dynamic performance and the steady-state performance of the nacelle propulsion motor and reduce the influence of load disturbance and unknown disturbance on a system, the invention designs a nacelle propulsion motor sliding mode control scheme based on tight-format dynamic linearization. The invention will be described in more detail below with reference to the accompanying drawings.
Referring to fig. 1, the control scheme of the propulsion motor of the semi-submersible vessel nacelle in the embodiment specifically includes the following steps:
step S1: building a pod propulsion motor dynamic model and discretizing:
1) when a control strategy is designed for the pod propulsion motor, in order to meet the requirement of higher torque performance requirement of the pod propulsion motor, i is adopted dw The permanent magnet synchronous motor rotor magnetic field orientation control method which is 0, the propulsion motor torque equation of the permanent magnet synchronous motor under a d-q coordinate system is as follows:
wherein, T e Is electromagnetic torque, p is the number of pole pairs of the motor,
is a permanent magnet and a stator interlinkage flux, i q Is the q-axis current;
the permanent magnet synchronous motor is provided with a multivariable nonlinear system with parameter time varying, and the motion equation after considering unknown disturbance is as follows:
where ω is the angular speed of the rotor of the propulsion motor, ω is 2 pi n/60, n is the output speed of the propulsion motor, T L Is the load torque, J is the moment of inertia, F is the coefficient of friction of the pod propulsion motor, K Q Is the torque coefficient, ρ is the density of water, D is the propeller diameter, f ld (k) Unknown disturbance influencing the rotating speed of the propulsion motor at the moment k is defined;
2) the method comprises the following steps of carrying out linear dynamic processing on a permanent magnet synchronous motor, and discretizing a motion equation of the permanent magnet synchronous motor by combining an equation (1) and an equation (2), wherein the discretization motion equation is as follows:
wherein n (k +1) is the output rotation speed of the propulsion motor at the moment of k +1, i q (k) Q-axis current at the moment k, and h is sampling time;
step S2: establishing a compact-format dynamic linearized data model by utilizing the concept of pseudo partial derivatives and combining a discrete rotating speed system equation of a pod propulsion motor:
1) the pod propulsion motor is a non-linear system that can be represented as:
n(k+1)＝f(n(k),n(k-1),…,n(k-l y ),i q (k),i q (k-1),…,i q (k-l u ))+f AL (k) (4)
wherein f is AL (k) Representing the total disturbance signal of the system, including load disturbance and unknown disturbance f ld (k) F (-) is an unknown non-linear function, l y ，l u E is R as the unknown order of the system; order:
n m (k+1)＝f(n(k),n(k-1),…,n(k-l y ),i q (k),i q (k-1),…,i q (k-l u )) (5)
the pod propulsion motor system can be rewritten as:
n(k+1)＝n m (k+1)+f AL (k) (6)
assume that 1: the nacelle propulsion motor system input and output are observable and controllable, giving a bounded desired thrustInput motor output speed n w (k +1) there is always a bounded input signal to cause the propulsion motor to output an output equal to the desired propulsion motor output speed n driven by the control input signal w (k+1)；
Assume 2: f (-) about q-axis current i q (k) The partial derivative of (a) is present and continuous;
assume that 3: the system is generalized Lipschitz, i.e., satisfies the sum | Δ i for any k time q (k) | ≠ 0 has:
Δn m (k+1)＝φ(k)Δi q (k) (7)
then:
Δn(k+1)＝φ(k)Δi q (k)+Δf AL (k) (8)
wherein, Δ n (k +1) ═ n (k +1) -n (k) is the variation of the output rotation speed of the propulsion motor from the time k to the time k + 1, Δ i q (k)＝i q (k)-i q (k-1) is the q-axis current variation from the time k to the time k + 1;
assume 4: the changes of load disturbance and unknown disturbance in the system at two adjacent moments are bounded, and the generalized Lipschitz condition is met:
|Δf AL (k+1)|≤b|Δi q (k)| (9)
wherein b is a normal number;
assume that 5: the pod propulsion motor nonlinear system has a globally asymptotically stable zero dynamics. From a practical point of view, the above assumptions are reasonable and acceptable. Where assumption 1 is a basic assumption for a controlled system, if it is not satisfied, such a system is not controllable. Assume 2 is a typical condition for many control laws that is satisfied by the pod propulsion motor nonlinear system. Assuming 3 is a limit on the amount of change in system output, the magnitude of the change in speed will not be infinite, it will be limited by the magnitude of the torque, which is affected by the input current, and the change in current per unit time will be finite. Suppose 4 total disturbances should have a limited effect on the system. Assumption 5 is an assumption of the internal dynamics of the system.
Theorem: for pod propulsion motor systems, assumptions 1-5 are satisfied when | Δ i q (t) | ≠ 0, there must be a quantity φ (k) called partial derivative, such that:
Δn(k+1)＝Δn m (k+1)+Δf AL (k) (10)
wherein phi (k) is a pseudo partial derivative of the speed loop control law;
in the combination formula (7), formula (10) can be rewritten as:
Δn(k+1)＝φ(k)Δi q (k)+Δf AL (k) (11)
2) the pod propulsion motor system may use the following parameter estimation algorithm to evaluate the pseudo-partial derivative of equation (11):
by solving for
The pseudo partial derivative estimate of the velocity loop control law may be obtained:
when in use
Or | Δ i q (k-1)|≤α，
Step S3: designing a sliding-mode control law scheme of a pod propulsion motor based on compact-format dynamic linearization:
1) defining a sliding mode plane function as:
s(k)＝e(k)+ce(k-1) (14)
wherein c is a constant greater than 0, so the formed error polynomial is a stable polynomial, and e (k) is a rotation speed tracking error, which is defined as follows:
e(k)＝n w (k)-n(k) (15)
wherein,n w (k) for the expected output speed of the propulsion motor at the moment k, the following approximation law is adopted:
s(k+1)＝(1-d)s(k)-εsgn(s(k)) (16)
wherein d and epsilon are constants larger than 0;
the equivalent control can be obtained from the equation shown in equation (16):
s(k+1)＝(1-d)s(k)-εsgn(s(k))＝e(k+1)+ce(k) (17)
the following equations (14) to (17) can be combined:
e(k+1)＝(1-d)s(k)-εsgn(s(k))-ce(k) (18)
namely:
then the sliding-mode control law of the pod propulsion motor based on the compact-format dynamic linearization is as follows:
2) the estimated value of the pseudo-partial derivative of the speed loop control law obtained by combining the formula (13) can obtain a nacelle propulsion motor sliding mode control scheme based on the compact form dynamic linearization as follows:
in the equation (20), the tracking of the rotation speed can be made to gradually approach zero. However, when the pod propulsion motor works, because disturbance influence of disturbance is caused by uncertain factors such as unmodeled dynamics, unknown disturbance, load disturbance and the like, a buffeting phenomenon of the system is easy to occur, the sliding mode control always has the problem that strong robustness and the system buffeting are contradictory, if the disturbance can be estimated, the system buffeting is reduced by compensating at the control input end, and the step S4 is a solution provided for solving the problem.
Step S4, designing an extended state observer, wherein the structure diagram is shown in FIG. 2:
designing an extended state observer, and carrying out total disturbance signal f in a nacelle propulsion motor sliding mode control scheme based on compact form dynamic linearization AL (k) And (3) estimating:
order:
wherein x is 2 (k) In order to expand the state variable(s),
the first order system of the pod propulsion motor can be expanded as:
definition e l (k) To observe the speed error, a second-order extended state observer can be constructed as follows:
wherein, beta 1 、β 2 、β 3 The parameters of the extended state observer in the system are all larger than 0, e l (k) For the error in the output speed of the propulsion motor in the observer, z 1 (k) For estimating the output speed of a propulsion motor in an extended state observer
z 2 (k) For estimating total disturbance signal in extended state observer
arsh (-) is an inverse hyperbolic sine function.
Step S5: designing a sliding mode control scheme of a pod propulsion motor based on compact form dynamic linearization in series:
1) the input and output of the nacelle propulsion motor system are observable and controllable, f (-) desired voltage u about q-axis q (k) The partial derivative of (c) is present and continuous, so the system is generalized Lipschitz, i.e., satisfied for any k time and | Δ u q (k) | ≠ 0 has:
i q (k+1)＝φ 1 (k)Δu q (k) (26)
2) and (3) solving the estimation value of the pseudo partial derivative of the internal current loop control law by adopting the following parameter estimation algorithm:
by solving for
The following can be obtained:
when in use
Or | Δ u q (k-1)|≤α 1 ，
3) The inner current loop is used as a secondary loop of a propulsion motor rotating speed system, a nacelle propulsion motor sliding mode controller based on a compact format dynamic linearization model is adopted to replace an original current PI controller for secondary adjustment, the inner current loop adopts a nacelle propulsion motor sliding mode control method based on compact format dynamic linearization, and an inner current loop control method which forms a cascade control structure with a speed loop is different from a speed outer loop in that quadrature axis current is used as output, u is used as output, and u is used as output power q (k) The design of the controller can refer to the design of the previous rotating speed loop controller by taking the disturbance item as input and removing, the secondary control loop also adopts a method based on data drive control, the influence of unmodeled dynamics on the system is reduced, the control performance of the rotating speed system of the propulsion motor is improved, and the control scheme is as follows:
wherein eta is 1 ∈(0,1]Is the step factor, mu, of the inner current loop control law 1 Greater than 0 is the weight factor of the internal current loop control law, σ 1 > 0 is a weight coefficient for limiting the q-axis voltage variation, alpha 1 、d 1 、ε 1 Are all constants which are greater than 0 and are,
estimated value of pseudo partial derivative of internal current loop control law, e 1 (k) For the q-axis current tracking error, defined as e 1 (k)＝i qw (k)-i q (k)，u qw (k) For desired voltage of q-axis, u q (k-1) is the q-axis voltage at time k-1, Δ u q (k-1)＝u q (k-1)-u q (k-2)。
Referring to fig. 3, a structural model of a speed regulating system of a semi-submersible lifting cabin propulsion motor in the control scheme of the invention is established by using MATLAB/Simulink and is simulated, the speed regulating system of the semi-submersible lifting cabin propulsion motor mainly comprises a rotating speed ring, an inner current ring, SVPWM, an expansion state observer and a permanent magnet synchronous motor, parameters of the semi-submersible lifting cabin propulsion motor refer to a 'Taian interface' number semi-submersible propulsion motor, and the specific parameters are as follows: the rated voltage is 660V; the rated power is 4700 kW; the flux linkage of the rotor permanent magnet is 2.6458 Wb; the resistance is 0.00164 omega; the number of pole pairs of the motor is 8; the d-axis inductance is 0.0085H; the q-axis inductance is 0.0085H. Designing parameters of a speed loop controller and parameters of an inner current loop controller according to the debugging condition of an actual system, and outputting a signal u by the inner current loop controller d 、u q Carrying out Park conversion to obtain the voltage u under a two-phase static coordinate system α 、u β And then, obtaining a control signal of the inverter through a space vector pulse width modulation algorithm SVPWM, outputting a corresponding three-phase voltage signal by the inverter, and applying the three-phase voltage signal to a stator winding of the permanent magnet synchronous motor to regulate the speed of the permanent magnet synchronous motor.
Referring to fig. 4, MATLAB/Simulink is used for establishing a structural model of a speed regulating system of a semi-submersible lifting cabin propulsion motor in a PI control scheme for simulation comparison with the control scheme provided by the invention, and parameters of the semi-submersible lifting cabin propulsion motor are the same as those in the above.
Referring to FIG. 5, to illustrate the effectiveness of the extended state observer, the system uses the control scheme of the present invention to compare the speed and torque response curves with and without the state observer. The state observer can well track the change of the disturbance, and after the state observer compensates the disturbance, the rotating speed overshoot of the propulsion motor is reduced, and the propulsion motor is more quickly stabilized after the set value is reached. Meanwhile, the torque pulse of the propulsion motor is reduced, and the dynamic performance of the system is improved.
Referring to fig. 6, to illustrate the effectiveness of the constant speed operation of the semi-submersible pod propulsion motor under the control scheme of the present invention, the speed and torque response curves of the propulsion motor under the two control schemes are compared. The simulation result is shown in fig. 6, in the control scheme of the invention in fig. 6, the rotating speed of the propulsion motor reaches the expected rotating speed in 0.045s, the maximum rotating speed fluctuates by 14rpm, and reaches the steady state in 0.074s, the continuous fluctuation is small, compared with the situation that the rotating speed reaches the expected speed for the first time in the PI control, the fluctuation is reduced by 25%, the system reaches the steady state and is reduced by 45%, the maximum rotating speed fluctuation is reduced by 4.5rpm, and the torque reaches the steady state and is advanced by 0.12 s. In contrast, the control scheme of the invention well inhibits the transient fluctuation and torque ripple of the rotating speed caused by the change of the load, reduces the damage to the motor, can keep the stability of the system when the unknown disturbance influence exists in the system, effectively weakens the buffeting of the system, and shows better response speed and anti-interference performance.
The embodiment provides a nacelle propulsion motor sliding mode control method based on compact form dynamic linearization, which is used for controlling a semi-submersible vessel nacelle propulsion motor. Compared with the dynamic performance and the steady-state performance of the propulsion motor under the existing PI vector control scheme in the MATLAB/Simulink simulation environment, the result shows that the nacelle propulsion motor sliding mode control method based on the compact format dynamic linearization can improve the control precision of the rotating speed and the torque of the propulsion motor, reduce the damage of torque pulsation to the motor, have strong robustness on the uncertainty and unknown disturbance of internal parameters of the nacelle propulsion motor, and provide an effective control method for a semi-submersible power positioning system.
The above detailed description further illustrates the objects, technical solutions and advantages of the present invention, and it should be understood that the embodiments are only used for explaining the present invention and are not used for limiting the protection scope of the present invention. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (3)
1. A pod propulsion motor sliding mode control (CFDL-SMC) method based on compact form dynamic linearization, characterized by: the method comprises the following steps:
(1) discretizing a pod propulsion motor dynamic equation:
1) establishing a pod propulsion motor dynamic model, wherein the motion equation of the permanent magnet synchronous motor is as follows:
wherein, T e Is electromagnetic torque, p is the number of pole pairs of the motor,
is a permanent magnet and a stator interlinkage flux, i q Is q-axis current, omega is the angular speed of the rotor of the propulsion motor, omega is 2 pi n/60, n is the output speed of the propulsion motor, T L Is the load torque, J is the moment of inertia, F is the coefficient of friction of the pod propulsion motor, K Q Is the torque coefficient, ρIs the density of water, D is the diameter of the propeller, f ld (k) Unknown disturbance influencing the rotating speed of the propulsion motor at the moment k is defined;
2) the discrete speed system equation for the pod propulsion motor is established as follows:
wherein n (k +1) is the output rotation speed of the propulsion motor at the moment k +1, n (k) is the output rotation speed of the propulsion motor at the moment k, i q (k) Q-axis current at the moment k, and h is sampling time;
(2) establishing a compact-format dynamic linearized data model of a pod propulsion motor:
1) a compact-format dynamic linearized data model is established by combining the concept of pseudo partial derivatives and a discrete rotating speed system equation of a pod propulsion motor as follows:
Δn(k+1)＝φ(k)Δi q (k)+Δf AL (k)
wherein, Δ n (k +1) ═ n (k +1) -n (k) is the variation of the output rotation speed of the propulsion motor from time k to time k +1, Δ i q (k)＝i q (k)-i q (k-1) is the q-axis current variation from the time k-1 to the time k, phi (k) is the pseudo partial derivative of the velocity loop control law, and deltaf AL (k)＝f AL (k)-f AL (k-1) is the variation of the total disturbance signal of the system from the moment k-1 to the moment k;
2) the pod propulsion motor system may use the following parameter estimation algorithm to find the estimate of the pseudo-partial derivative of the speed loop control law:
wherein,
pseudo partial derivative estimate, Δ i, for the velocity loop control law q (k-1)＝i q (k-1)-i q (k-2)，
Is the variation of the estimated value of the total disturbance signal of the system from the time k-2 to the time k-1, and belongs to eta (0, 1)]Is the step factor of the speed loop control law, mu > 0 is the weight factor of the speed loop control law;
(3) designing a nacelle propulsion motor sliding mode control method based on compact form dynamic linearization:
defining a sliding mode plane function as:
s(k)＝e(k)+ce(k-1)
wherein c is a constant greater than 0, so the formed error polynomial is a stable polynomial, and e (k) is a rotation speed tracking error, which is defined as follows:
e(k)＝n w (k)-n(k)
wherein n is w (k) For the expected output speed of the propulsion motor at the moment k, the following approximation law is adopted:
s(k+1)＝(1-d)s(k)-εsgn(s(k))
wherein d and epsilon are constants larger than 0;
the equivalent control is as follows:
s(k+1)＝(1-d)s(k)-εsgn(s(k))＝e(k+1)+ce(k)
data model delta n (k +1) after pod propulsion motor compact format dynamic linearization is changed into phi (k) delta i q (k)+Δf AL (k) And an estimate of the pseudo partial derivative
In conjunction with the above formula, the sliding-mode control method for the pod propulsion motor based on the compact-format dynamic linearization can be obtained as follows:
wherein, σ > 0 is a weight coefficient for limiting q-axis current variation, d, c, and e are constants greater than 0, and e (k) is a tracking error of the rotation speed of the propulsion motor, and is defined as e (k) n w (k)-n(k)，n w (k +1) expected output of propulsion motor at time k +1Output rotation speed i qw (k) For the q-axis desired current at time k, sgn (·) is a sign function;
(4) designing an extended state observer: total disturbance f in nacelle propulsion motor sliding mode control method based on compact form dynamic linearization AL (k) The estimation is performed by designing the extended state observer as follows:
the pod propulsion motor first order system is represented as follows:
order:
wherein x is 2 (k) In order to expand the state variable(s),
the first order system of the pod propulsion motor can expand as:
definition e l (k) To observe the speed error, a second order extended state observer can be constructed as follows:
wherein, beta 1 、β 2 、β 3 The parameters of the extended state observer in the system are all larger than 0, e l (k) For extending the output speed error of the propulsion motor in the state observer, z 1 (k) For estimating the output speed of a propulsion motor in an extended state observer
z 2 (k) For estimating total disturbance signal in extended state observer
arsh (-) is an inverse hyperbolic sine function;
(5) designing a sliding mode control method of a pod propulsion motor based on a compact-format dynamic linearization model in series:
wherein eta is 1 ∈(0,1]Is the step factor, mu, of the inner current loop control law 1 Greater than 0 is the weight factor of the internal current loop control law, σ 1 > 0 is a weight coefficient for limiting the q-axis voltage variation, alpha 1 、d 1 、ε 1 Are all constants which are greater than 0 and are,
estimated value of pseudo partial derivative of internal current loop control law, e 1 (k) For the q-axis current tracking error, defined as e 1 (k)＝i qw (k)-i q (k)，u qw (k) For desired voltage of q-axis, u q (k-1) is the q-axis voltage at time k-1, Δ u q (k-1)＝u q (k-1)-u q (k-2)。
2. The method of claim 1, wherein: step (2) integrating internal disturbance and external disturbance into total system disturbance signal f during system disturbance processing AL (k) The feedback is carried out on the sliding mode control system of the pod propulsion motor based on the compact format dynamic linearization, and the specific design is as follows:
the pod propulsion motor first order system can be represented as follows:
the load disturbance part in the first order system is-30 pT L (k) π J, unknown disturbance fraction 30pf ld (k) π J, the total disturbance signal can be expressed as:
3. the method of claim 1, wherein: in the step (5), the inner current loop adopts a nacelle propulsion motor sliding mode control method based on compact format dynamic linearization, and forms a cascade control structure with the speed loop, and the inner current loop control method is different from the speed outer loop in that the quadrature axis current is used as output, and u is a linear current q (k) As an input, and removing the disturbance term, the specific design is as follows:
1) the input and output of the nacelle propulsion motor system are observable and controllable, giving a bounded desired output signal i qw (k +1) there is always a bounded input signal that causes the system to output an output equal to the desired output i of the system driven by this control input signal qw (k +1), f (-) with respect to the control input signal u q (k) The partial derivative of (c) is present and continuous, and the system is satisfied with generalized Lipschitz, i.e., with the sum | Δ u for any k time q (k) | ≠ 0 has:
Δi q (k+1)＝φ 1 (k)Δu q (k)
2) and (3) solving the pseudo partial derivative estimation value of the internal current loop control law by adopting the following parameter estimation algorithm:
when in use
Or | Δ u q (k-1)|≤α 1 ，
Wherein,
is an estimate of the pseudo-partial derivative, η, of the inner current loop control law 1 ∈(0,1]Is the step factor, alpha, of the control law of the inner current loop 1 Is a constant greater than 0;
3) the influence caused by unmodeled dynamics can be reduced by adopting a data-driven control-based method for the internal current loop, and with reference to the design of the control scheme in the step (3), the control scheme for the internal current loop can be obtained as follows:
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