基于扰动补偿的电机模拟器电流控制策略

doi:10.19595/j.cnki.1000-6753.tces.230012

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摘要针对传统PI控制的低通滤波特性对电机模拟器动态控制效果的限制以及传统开环控制策略易受参数扰动影响的问题,该文提出一种基于滑模扰动观测器的开环电流控制策略。首先,根据目标电机数学模型以及接口电路模型推导出不带微分计算的开环控制电压方程;其次,为了解决传统开环控制易受参数扰动影响的问题,设计滑模扰动观测器进行扰动观测;最后,通过实验对比了该文所提控制策略与PI控制和传统开环控制的控制效果。实验结果表明,在存在参数扰动时,该文所提的控制策略无论在瞬态或稳态工况,均比基于传统PI控制和开环控制策略的电机模拟器系统具有更高的模拟精度与准确性。

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关键词 ：电机模拟器, 开环控制, PI控制, 扰动观测器

Abstract：Mechanical load dynamometer systems are commonly used to test and develop motor drive systems. However, traditional mechanical load testbeds for electric motors have several drawbacks, such as large volume, high cost, and difficulties-to-implementing fault testing, which fail to meet the requirements of efficient electric drive system testing. An electric motor emulator (EME) based on power hardware-in-the-loop (PHIL) can simulate the current and voltage characteristics of real motor ports using power electronic devices and control algorithms, making it a novel solution for testing the performance of motor controllers.
The current control strategies are key to affecting the accuracy of EME. However, the low-pass filtering nature of conventional PI control limits the dynamic control effect of EME, and traditional open-loop control strategies are susceptible to parameter perturbations. Therefore, an open-loop current control strategy based on sliding mode perturbing observers is proposed. First, the PI control defect and low-pass filtering properties are analyzed by deriving the transfer function and using the Bode diagram. The theoretical analysis shows that PI control cannot simulate the amplitude-frequency properties of the target motor in the full bandwidth. Second, the open loop control voltage equation without differential calculation is derived based on the mathematical model of the target motor and the interface circuit model. Moreover, the perturbation effects of the resistance and inductance parameters on the control policy are analyzed. The inductance perturbation mainly affects the high-frequency features, which are more distorted as the degree of perturbation increases, leading to a decrease in the accuracy of the simulation of the dynamic response. Resistance perturbations mainly affect the low-frequency features. As the degree of mismatch increases, the distortion of the low-frequency features and the steady-state error become larger. Finally, robust sliding-mode perturbation observers are designed for perturbation observation and feed-forward compensation.
Simulation results show that under 35% resistance disturbance and 25% resistance disturbance, the traditional open-loop control exhibits phase current simulation error as high as 3 A in the dynamic response, and the steady-state error is about 2 A. The PI control has the largest phase current simulation error during the acceleration stage, about 2 A, and the steady-state error is about 0.8 A. The error of the proposed control strategy is within 0.7 A in both dynamic and steady-state responses. Experimental results show that traditional open-loop control experiences amplitude errors and phase perturbations after parameter perturbations. The proposed control strategy has higher precision and accuracy than the motor simulator system based on the traditional PI control and open-loop control strategy, regardless of the transient or steady-state condition when there is parameter disturbance. Under 25% inductance disturbance and 35% resistance disturbance, the maximum phase current simulation error is reduced by 60% compared to the traditional open-loop control and 10% compared to the PI control. Meanwhile, the harmonic content of phase current is reduced by 2.48% compared to PI control.

Key words： Electric motor emulator open-loop control PI control disturbance observer

收稿日期: 2023-01-04

PACS:

TM341

基金资助:国家自然科学基金资助项目（51775042）

通讯作者: 王志福男,1977年生,教授,硕士生导师,研究方向为电机控制、车辆动力学、电机模拟器等。E-mail: wangzhifu@bit.edu.cn

作者简介: 王泽尚男,1999年生,硕士研究生,研究方向为电机控制、电机模拟器系统及其控制。E-mail: wangzeshang@bit.edu.cn

引用本文:

王泽尚, 孙立清, 王志福, 潘琼. 基于扰动补偿的电机模拟器电流控制策略[J]. 电工技术学报, 2023, 38(22): 5987-5998. Wang Zeshang¹, Sun Liqing¹, Wang Zhifu^1,2, Pan Qiong^1,2. Current Control Strategy of Electric Motor Emulator Based on Disturbance Compensation. Transactions of China Electrotechnical Society, 2023, 38(22): 5987-5998.

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