基于反推控制和模态估计的永磁同步电机驱动柔性涡簧储能控制方法

doi:10.19595/j.cnki.1000-6753.tces.181621

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摘要涡卷弹簧是新型机械弹性储能系统的储能介质,作为典型的机械弹性元件,在储能过程中表现出较大柔性,使得常规PI控制器难以让系统在正常运行范围内保持较好的动态性能。首先,将涡卷弹簧等效为Euler-Bernoulli梁,基于Lagrange方程建立描述涡卷弹簧振动模态且能用于控制算法的动力学模型;然后,将非线性反推控制引入系统控制中,提出一种基于反推控制的永磁同步电机直接驱动柔性负载的储能运行和振动抑制相统一的控制方法,建立包括模态振动抑制的速度控制器和电流控制器,并从理论上证明了控制器的稳定性;同时针对涡卷弹簧模态的未知性,设计一种带遗传因子最小二乘算法的涡卷弹簧振动模态估计方法。实验结果表明,与传统PI控制相比,提出的控制方法在有效抑制涡簧振动的同时实现了系统平稳储能,由此验证了该方法的正确性与有效性。

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	余洋
	田夏
	从乐瑶
	谢仁杰
	米增强

关键词 ：涡卷弹簧, 永磁同步电机, 反推控制, 振动抑制, 模态估计

Abstract：Spiral spring is the energy storage material of new mechanical elastic energy storage system. As a typical elastic element, it will exhibit the flexibility in energy storage process, making the conventional PI controller be difficult to maintain good dynamic performance over the range of normal operation. Firstly, spiral spring is equivalent to a Euler-Bernoulli beam. Based on the Lagrange equation, a dynamic model is established for describing the vibration mode of the spring and using for control algorithm. Then, nonlinear backstepping control is introduced into the system. A control method integrating with vibration suppression and energy storage is proposed for permanent synchronous magnet motor to drive flexible load directly, and the speed controller and current controller including modal vibration suppression are established respectively. The stability of the controllers is proved theoretically. Meanwhile, for the unknown feature of the spring modal, an estimation method of vibration mode is designed by the least-squares algorithm with a forgetting factor. Compared with the conventional PI control, the experimental results indicate that the proposed method can inhibit the resonance effectively and complete the energy storage stably, which verifies the correctness and effectiveness of the method.

Key words： Spiral spring permanent magnet synchronous motor backstepping control vibration suppression modal estimation

收稿日期: 2018-10-09 出版日期: 2019-12-30

PACS:

TM301

通讯作者: 余洋，男,1982年生,博士,副教授,研究方向为电力储能技术,需求侧资源调度与控制。E-mail:yym0401@163.com

作者简介: 田夏，女,1995年生,硕士研究生,研究方向机械弹性储能运行与控制。E-mail:1319549621@qq.com

引用本文:

余洋, 田夏, 从乐瑶, 谢仁杰, 米增强. 基于反推控制和模态估计的永磁同步电机驱动柔性涡簧储能控制方法[J]. 电工技术学报, 2019, 34(24): 5084-5094. Yu Yang, Tian Xia, Cong Leyao, Xie Renjie, Mi Zengqiang. Energy Storage Control Method of Flexible Spiral Springs Driven by Permanent Magnet Synchronous Motor Based on Backstepping Control and Modal Estimation. Transactions of China Electrotechnical Society, 2019, 34(24): 5084-5094.

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