【作者】 苏位峰；

【导师】 李发海； 孙旭东；

【作者基本信息】 清华大学 ， 电气工程， 2004， 博士

【摘要】 实现异步电机的高性能控制 是现代工业的迫切要求 论文以高性能异步电机调速系统为研究对象 针对其模型非线性和不确定性问题 在转子磁链观测 闭环控制器设计以及转速和转子电阻辨识等方面 进行了深入的理论分析计算机仿真和样机实验研究论文提出了一种异步电机自抗扰矢量控制系统 实现了高性能鲁棒控制控制系统主要包括转子磁链观测和闭环控制器设计两部分转子磁链观测是矢量控制的关键 为抑制测量噪声等外部干扰对磁链观测的影响 论文提出了一种基于简化 Kalman滤波的转子磁链观测器 采用子观测器的组合结构 简化了 Kalman滤波算法 为了消除转子电阻摄动对磁链观测的影响 论文提出了一种基于模型补偿扩张状态观测器 ESO 的转子磁链观测器 将转子电阻摄动视为系统的模型扰动 采用 ESO 加以观测和补偿 模型补偿 ESO 算法 将原有的 ESO 磁链开环估计改造为闭环观测 除了不受转子电阻变化影响外 还避免了纯积分的影响 大大提高了观测器的观测精度转速环和电流环控制器直接影响矢量控制系统的动态性能 论文应用自抗扰控制 ADRC 理论 处理转速与电流方程中的未知外扰和模型耦合项 并设计了相应的控制器 为提高 ADRC 性能 提出了 ESO 的设计原则 据此可以提高 ESO 的收敛速度和观测精度 论文提出了一阶 ADRC的优化结构以及相应的参数选取规律 采用线性模型替代典型 ADRC 中的部分非线性环节 在保持控制性能的前提下 简化了模型结构 降低了计算量 大大提高了 ADRC 的实用性论文提出了基于 ESO 的转速辨识算法 实现了无速度传感器矢量控制 利用自抗扰控制系统的已有结构 从 ESO 的未知模型观测结果中提取转速信息进一步地 提出了三角波激励法 在转子磁链参考值上注入三角波 实现了转子电阻的快速光滑辨识 提高了转速辨识精度研制了异步电机自抗扰矢量控制调速系统样机 通过仿真和物理实验 验证了本文提出的控制方法的正确性和有效性更多还原

【Abstract】 High performance control of induction motor drives is urgently required forsome applications in modern industry. In this dissertation, researches are focused onhigh performance induction motor drive systems. Aimed to solve the controlproblems of non-linearity and uncertainty existing in such systems, in-depth theoryanalysis, simulations and experiments are performed concerning the rotor fluxobserver, the close-loop controllers and identification of speed and rotor resistance inthe system. In order to obtain robust control performance with quick response, ActiveDisturbances Rejection Control (ADRC) for a field-oriented induction motor drivesystem is proposed in this dissertation, in which the rotor flux observer and theclose-loop controllers are two dominant parts. Rotor flux observation is a key step in implementation of a field-oriented control(FOC) system. To suppress the adverse influence of external disturbances such asmeasurement noises, a rotor flux observer model with a simplified Kalman filter isintroduced. With the structure of combined sub-observers, the complexity of Kalmanfiltering algorithm is reduced. In order to reject the influence of rotor resistanceperturbation, a new rotor flux observer based on an Extended State Observer (ESO)with model compensation is proposed. The perturbationof rotor resistance is taken asa system model disturbance, which can be observed and compensated by ESO. TheESO with model compensation algorithm can change the original open-loopestimation into close-loop observation, with which the flux observation is free of theeffect of rotor resistance variation and the pure integration problem is solved. As aresult, the performance of rotor flux observer based on ESO compensation isimproved to a great degree. The dynamic performance of a FOC system depends on its speed and currentloop controllers. ADRC technology is introduced into the controller design to dealwith the influences of the unknown external disturbances and the coupling items inspeed and current models. The principles of ESO design are proposed to improve - II -<WP=6>AbstractADRC′s performance, with which an ESO with quick convergence and preciseobservation can be realized. In this dissertation, a novel optimized model of thefirst-order ADRC is proposed, and the general rules that govern the selection of itsparameters are also presented. With some non-linear components in the typicalADRC model replaced by their corresponding linear models, the structure of themodel is simplified and its computation load is reduced, thus the practicability ofADRC is greatly enhanced while same dynamic performance is kept at the same time. For the implementation of sensorless FOC, a speed identification algorithm isintroduced on the basis of ESO. By means of the existing structure of ADRC system,speed information is picked up from the observation results of the unknown model inESO. Furthermore, a new rotor resistance identification method is proposed in thisdissertation. With a proper triangular wave injected into the rotor flux reference, rotorresistance can be estimated in a quick and smooth convergence process. As a result,precise identification of speed is achieved. A prototype of the ADRC system for FOC induction motor drives is designedand built, with which experimental investigations are accomplished. Experiment andsimulation results demonstrate the validity of all the methods proposed in thisdissertation.更多还原