Single-loop Robust Control of Permanent Magnet Synchronous Motors Based on Generalized Predictive Control
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摘要: 为改进无人水下航行器(UUV)用永磁同步电机(PMSM)控制系统的动态性能和鲁棒性, 简化控制系统结构, 提出了一种基于广义预测控制的PMSM单环控制策略。该方法基于连续时间的PMSM模型, 通过优化新型目标函数的非线性广义预测控制策略, 设计了PMSM转速-电流单环控制器。同时采用电流约束策略, 避免了电流过大对电机和逆变控制器造成的损害。该控制器控制结构简单, 只需调节预测时域即可实现PMSM强鲁棒控制, 工程上易于实现。仿真实验结果表明, 所研究控制策略能有效抑制外部扰动和内部参数摄动的影响, 实现了UUV用PMSM控制系统的快速动态响应和强鲁棒性。Abstract: To improve the dynamic performance and robustness of the control system of permanent magnet synchronous motors (PMSMs) for unmanned undersea vehicles (UUVs) and simplify the structure of the control system, a single-loop control strategy based on generalized predictive control (GPC) is proposed. A novel objective function is optimized to design a single-loop speed-current PMSM controller based on the continuous-time PMSM model. Furthermore, a current-limiting strategy is employed to avoid any damage to the motor and inverter controller caused by extremely high currents. The controller has a simple structure. Further, robust PMSM control can be realized by only adjusting the prediction time domain; this is easy to implement in engineering applications. Simulation results show that the control strategy can effectively suppress the influence of external disturbance and internal parameter perturbation, thus realizing a fast dynamic response and strong robustness of the PMSM for UUVs.
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图 3 2种控制策略的仿真实验1结果
Figure 3. The simulation results of two control strategies of experiment 1
图 4 2种控制策略的仿真实验2结果
Figure 4. The simulation results of two control strategies of experiment 2
图 5 2种控制策略的仿真实验3结果
Figure 5. The simulation results of two control strategies of experiment 3
表 1 PMSM参数
Table 1. PMSM parameters
参数 数值 额定转速$/({\rm{r/min} })$ 3 000 直流母线电压$/{\text{V}}$ 311 定子电阻$/\Omega $ 0.028 3 直轴电感$/{\text{mH}}$ 0.274 永磁体磁链$/{\text{Wb}}$ 0.019 转动惯量$/{\text{(kg} } / { {\text{m} }^{ 2} }{\text{)} }$ 0.071 摩擦系数 0.008 极对数 4 
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表 2 仿真实验1结果性能指标
Table 2. The performance of simulation experiment 1
控制策略 起动时超
调量/(r/min)起动上升
时间/s减速时超
调量/(r/min)减速上升
时间/s$d$轴
电流$\left| \varDelta \right|$/A级联式PI控制 9.3 2.18 9.45 1.08 0.247 所研究控制 0 2.18 0 1.08 0.220
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表 3 仿真实验2结果性能指标
Table 3. The performance of simulation experiment 2
控制策略 转速稳态
误差/(r/min)${t_1}$时刻后转速
变化/(r/min)${t_2}$时刻后转速
变化/(r/min)$d$轴电流
$\left| \varDelta \right|{\rm{/A} }$级联式PI控制 0 21.9 21.1 0.229 2 所研究控制 0 5.03 4.64 0.207 9
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表 4 仿真实验3结果性能指标
Table 4. The performance indexes of two controllers of experiment 3
控制策略 超调量/(r/min) 上升时间/s $d$轴电流$\left| \varDelta \right|{\rm{/A} }$ 级联式PI控制 9.06 2.23 25.909 所研究控制 0 2.19 0.428 1
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