【作者】 戴斌；

【导师】 杨俊； 李世华；

【作者基本信息】 东南大学 ， 先进制造（专业学位）， 2024， 博士

【摘要】 随着电力电子技术和现代控制理论的不断进步,在诸如航空航天、风力发电、船舶推进、煤矿运输、电力机车等应用领域,电机调速系统向着更大功率和更高可靠性的方向发展。相较于传统的三相永磁同步电机,双三相永磁同步电机由于相数的增加,具备了更多的优点,如大功率输出、小转矩脉动、高可靠性以及灵活控制等,使其在这些应用场景中更具优势,因此受到了众多学者的关注和研究。尽管双三相永磁同步电机具有显著可靠性优势,但其本质上是控制量和状态相互耦合的非线性系统,此类系统的控制器设计是一项具有挑战性的难题。除此之外,在实际应用中,双三相永磁同步电机系统中广泛存在的齿槽转矩、磁通谐波、逆变器非线性、模型参数不确定性、未知的负载力矩等因素往往会对系统的性能产生严重影响。由于传统的线性控制方法已经无法满足越来越高的性能要求,研究更为先进的非线性控制算法已经成为提升双三相永磁同步电机系统性能的关键,具有重要的理论意义和工程价值。本文以双三相永磁同步电机的实际应用为出发点,综合考虑了转速约束、优化通信计算资源、过流保护和谐波抑制等因素,系统地研究其在多源干扰影响下的高精度转速调节问题。一、针对双三相永磁同步电机系统串级控制结构,研究其基波平面内的转速波动约束控制问题。首先,通过构造非线性干扰观测器估计转速环的多源干扰,包括齿槽转矩、参数不确定性和未知负载力矩等。然后,针对转速环设计一个带有灵活切换增益的滑模控制器。其中,该灵活增益通过将转速跟踪误差融入障碍函数的设计得到,并实现随着转速跟踪误差越接近预设的约束边界而变得越大。通过引入干扰补偿形成复合控制器。所提出的复合控制方案具有设计简单和易于实现的优点。最后,给出严谨的稳定性分析,并通过对比仿真和实验验证所提方法的有效性。结果表明提出的复合控制方案不仅能够实现双三相永磁同步电机系统的转速约束控制,而且缓解了系统的抖振,提升转速跟踪精度。二、针对双三相永磁同步电机在有限通信带宽条件下的高精度调速控制问题,提出基于离散时间动态事件触发机制的干扰抑制控制方法。首先,在仅有采样数据输出的情况下,设计了基于预测器的广义比例积分观测器来估计双三相永磁同步电机系统中的多源集总干扰。然后,充分利用干扰估计信息,形成一个复合比例反馈控制器。该复合控制器仅在所设计的离散型动态事件触发机制被违反时才作用在双三相永磁同步电机系统上。由于采用了基于离散时间的检测方法,所设计的离散型动态事件触发机制易于数字化实现。最后,给出严谨的稳定性分析,并通过仿真和实验验证了所提控制方案的可行性和有效性。结果表明提出的控制方案在保证干扰抑制能力的同时,节省了双三相永磁同步电机系统的通信和计算资源。三、针对受多源时变干扰影响的双三相永磁同步电机系统,研究其基波平面内的调速控制问题和谐波平面内的谐波电流抑制问题。首先,在基波平面采用非串级控制结构,通过构造广义比例积分观测器估计转速环的多源快变干扰。然后,针对q轴电流的电流约束问题,在传统比例微分反馈控制器的基础上设计一个非线性的电流惩罚项,结合干扰估计信息,得到电流约束复合控制器。其次,在谐波平面,通过设计两个广义比例积分观测器精准估计电流环的多源快变干扰,并与比例反馈控制器结合形成复合控制器来抑制两个电流环中的谐波电流。最后,给出严谨的稳定性分析,并通过对比实验验证所提方法的有效性。结果表明所提出的复合控制方案在基波平面不仅实现过流保护功能,而且有效增强系统的抗干扰能力,转速稳态精度方面得到明显提升。在谐波平面中,所提的复合控制方案更有效抑制了6次谐波电流。四、为解决双三相永磁同步电机系统由于其基波平面内q轴电流过大和多源干扰存在而引发安全性能和调速精度问题,提出一个带有电流约束功能的连续非奇异终端滑模控制方法。首先,采用两个超螺旋干扰观测器分别估计系统中的匹配和非匹配干扰。其次,设计一个融合了干扰估计信息的复合连续非奇异终端滑模控制方法提高电机系统的抗干扰性能。为了实现过流保护,在复合控制器的基础上结合一个新颖的切换思想。该切换思想只在电流接近约束边界时才会实施。最后,给出严谨的稳定性分析,并通过对比仿真和实验验证所提方法的有效性。更多还原

【Abstract】 With the rapid development of power electronic technology and modern control theory,the motor speed regulation control system develops in the direction of higher power and higher reliability.Compared with the traditional three-phase permanent magnet synchronous motors(PMSM),dual three-phase PMSMs(DTP-PMSM)with more numbers of phases are more suitable for these applications,such as aerospace,wind power generation,ship propulsion,coal mine transportation,electric locomotives,and so on.Due to the advantages of high power outputs,small torque pulsations,high reliabilities,control flexibilities,etc.,DTP-PMSMs have received much research attentions.Despite the obvious reliability advantages,DTP-PMSM systems belong to a class of nonlinear systems with coupled control quantities and states.The control design of such systems is a challenging problem.In addition,the multi-source disturbances widely exist in the DTP-PMSM systems,including cogging torque,flux harmonics,inverter nonlinearity,parameter uncertainty,and unknown load torque,which leads to serious impacts on the performance of the system.Since the increasingly high perfor-mance requirements of DTP-PMSM systems cannot be met by using the traditional linear control methods,the study of advanced nonlinear control algorithms has become the key to improve the performance of DTP-PMSM systems,which has important theoretical significance and engineering value.By taking into account the speed constraints,overcurrent protection,harmonic suppression,and optimization of the communication computational resources,the high-precision speed regulation of DTP-PMSM systems under the influence of multi-source disturbances are investigated in this thesis.The main researches of the thesis are summarized below:(1)The speed fluctuation constraints(SFC)under cascade control structure in the fundamental plane of DTP-PMSM systems are investigated.First,a nonlinear disturbance observer is constructed to estimate the lumped disturbances,including cogging torque,parameter uncertainties and unknown load torque,which widely exist in the speed loop.Then,a novel barrier function-based sliding mode control method is designed,in which the switching gain is determined by the barrier function to achieve the goal of SFC when facing the above disturbances.The control switching gain will continue to increase until the system output reaches the priori boundary.Finally,a composite controller is formed by introducing disturbance estimation.The stability analysis of the closed-loop control system is presented.Both simulations and experimental tests are applied to demonstrate the efficiency of the proposed method.The proposed method obtains a smaller flexible switching gain,which not only achieves the target of SFC,but also substantially alleviates the chattering phenomenon.The speed tracking accuracy is improved.(2)The robust control problem for speed regulation of DTP-PMSM systems subject to the limited com-munication bandwidth is investigated.To handle this,a new sampled-data disturbance rejection control method is developed via a well designed discrete-time dynamic event-triggered mechanism(DETM).First,a predictor-based generalized proportional integral observer(GPIO)is introduced to estimate the lumped distur-bances,when only the sampled-data output is available.Then,a composite proportional feedback controller is formed by fully utilizing disturbance estimation.The composite controller updates only when the designed discrete-time DETM is violated,resulting in remarkable communication and computation resource savings while maintaining the desirable disturbance rejection ability.The designed DETM can be applied to digital computers easily due to the discrete-time detection.Simulations and experiments are carried out to validate the feasibility and effectiveness of the proposed control scheme.The results show that the proposed DTEM-based DUEA control scheme can simultaneously reduce the communication numbers of control input,while maintaining satisfactory speed tracking performance.(3)The speed regulation problem in fundamental subspace and the harmonic current suppression prob-lem in harmonic subspace of DTP-PMSM systems subject to multi-source lumped disturbances are studied,respectively.Firstly,a non-cascade control structure is adopted in the fundamental subspace.A generalized proportional integral observer(GPIO)is designed to estimate the multi-source fast-varying disturbances in speed loop of the fundamental subspace.Secondly,the barrier function is introduced on the basis of the tra-ditional proportional differential feedback controller to overcome the overcurrent protection problem of q-axis current.Then,a current constrained composite controller based on GPIO is obtained by embedding the disturbance estimation.Thirdly,two GPIOs are designed to accurately estimate the multi-source fast-varying disturbances in the current loop of harmonic subspace.A composite controller is formed by combining the disturbance estimation based feedforward compensation with the proportional feedback control to suppress the harmonic currents in two current loops.Finally,a rigorous stability analysis is demonstrated and the ef-fectiveness of the proposed method is verified by contrast experimental results.The results show that the proposed GPIO-based composite control scheme not only realizes the overcurrent protection function in the fundamental plane,but also effectively enhances the disturbance rejection capability of the system.The steady state accuracy of the speed is significantly improved.In the harmonic plane,the proposed composite control scheme effectively suppresses the 6th harmonic current.(4)Certain issues such as over-current risks and multi-source disturbances,may result in unsatisfactory speed regulation performance and increase the risk of circuitry damage under non-cascade control structures of DTP-PMSM systems.To address these problems,a current-constrained continuous nonsingular terminal sliding mode control(CNTSMC)approach is proposed.First,two super-twisting disturbance observers are designed to estimate both matched and mismatched disturbances in the PMSM systems.Then,a composite CNTSMC method incorporating the disturbance estimation is designed to improve the anti-disturbance ability of PMSM systems.To realize over-current protection,a novel switching idea is introduced based on the com-posite CNTSMC method,which is implemented only when the current reaches the constraint boundary.Final-ly,the stability analysis of the closed-loop control system is presented,and the proposed method is demon-strated to be effective through experimental tests.The results show that the proposed current-constrained composite CNTSMC control scheme ensures superior speed tracking performance under both matched and mismatched disturbances while achieving overcurrent protection.更多还原