基于自抗扰滑模控制的开关磁阻电机转矩分配控制策略

doi:10.19595/j.cnki.1000-6753.tces.231277

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摘要

针对开关磁阻电机运行时存在的转矩波动大与外部干扰下电机运行不稳定等问题,本文提出了一种基于自抗扰滑模控制的开关磁阻电机转矩分配控制策略。由于传统滑模控制中趋近律采用的符号函数引起系统振荡频率高,造成被控对象抖振大,本文采用了新型滑模趋近律,用平滑函数代替符号函数,并引入了状态变量,同时提升了响应速度和降低抖振;此外,为了解决开关磁阻电机外部干扰对电机运行带来的稳定性问题,本文设计了一种自抗扰扩张状态观测器,这种观测器可以实现对负载扰动的实时观测,将观测值作为滑模速度控制器的前馈补偿,减小电机固有参数不确定对控制系统的影响。最后,通过仿真和实验验证了所提出的方案能够有效改进控制系统在不同工况下的动态性能。

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	李宗霖
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关键词 ：开关磁阻电机, 转矩分配控制, 新型滑模趋近律, 自抗扰扩张状态观测器

Abstract：

The research of new energy electric vehicles is currently a hot topic, and switched reluctance motor (SRM) is applied in the field of electric vehicles due to its simple structure, strong fault tolerance, and ease of control. Among them, motor torque ripple and system response speed are important indicators to measure the performance of motor drive systems. Sliding mode control is a nonlinear algorithm with the advantages of fast response speed and strong robustness. Sliding mode control includes sliding mode approach law and sliding mode surface. Due to the sign function used in traditional exponential approach law, which can cause system oscillation and cause large chattering in the control system, smooth function is used instead of the sign function, and system state variable is introduced to improve control flexibility. At the same time, in order to improve the convergence of traditional integral sliding surface, an improved integral sliding surface is proposed. Considering the nonlinearity of the parameters of switched reluctance motor, when the system operates under variable speed and load conditions, the load torque and inherent parameters of the motor have a significant impact on the operating effect of the motor. Therefore, the active disturbance rejection extended state observer (ADRESO) is used as a feedforward compensation for the sliding mode speed controller to adjust the uncertain parameters and load torque of the motor. The design of the ADRESO does not require an accurate mathematical model of the motor, and it can ensure the stability of the system under complex operating conditions and has strong robustness.
From the experimental results of an actual switched reluctance motor, it can be seen that under steady state operating conditions, when the motor load is 0.5N·m and the set speeds are 500r/min and 1000r/min, the proposed active disturbance rejection sliding mode control (ADRSMC) results in smaller motor pulsation. Under variable speed conditions, when the load torque is 0.2N·m, the starting time of the system under PI control and traditional sliding mode control is 0.7s and 0.25s, and the variable speed response time is 0.65s and 0.28s. The starting time of the system under the proposed ADRSMC is 0.07s, and the variable speed response time is 0.1s; when the load torque is 0.5N·m, the starting time of the system under PI control and traditional sliding mode control is 0.95s and 0.3s, and the variable speed response time is 0.73s and 0.5s. The starting time of the system under the proposed ADRSMC is 0.12s and the variable speed response time is 0.13s. And this method reduces the fluctuation of motor speed under stable operation. Under variable load conditions, when the set speed is 500r/min, the time taken for the system to return to the original state under PI control and traditional sliding mode control is 0.38s and 0.12s. The response time of the system under the proposed ADRSMC is 0.03s. When the set speed is 1000r/min, the time taken for the system to return to the original state under PI control and traditional sliding mode control is 0.43s and 0.33s. The response time of the system under the proposed ADRSMC is 0.08s. It indicates that the proposed ADRSMC can approach the original speed in a relatively short period of time.
Based on the results, it can be concluded that the proposed control strategy can effectively reduce the torque ripple of the motor and improve the response time of the system, while also improving the stability of the speed.

Key words： Switched reluctance motor torque sharing function control new type of sliding mode reaching law active disturbance rejection extended state observer

PACS:

TM352

基金资助:

深圳市协同创新专项计划国际合作研究项目（GJHZ20220913144400001）; 深圳市基础研究专项重点项目（JCYJ20220818100000001）

通讯作者: 陈昊男,1969年生,教授,博士生导师,研究方向为开关磁阻电机系统及其控制。E-mail：hchen@cumt.edu.cn

作者简介: 李宗霖男,1999年生,硕士,研究方向为开关磁阻电机系统及其控制。E-mail：lizonglin_binary@163.com

引用本文:

李宗霖, 陈昊, 戚湧, 王冠钧, 戈凯. 基于自抗扰滑模控制的开关磁阻电机转矩分配控制策略[J]. 电工技术学报, 0, (): 1277-1277. Li Zonglin, Chen Hao, Qi Yong, Wang Guanjun, Ge Kai. Torque Sharing Function Control Strategy for Switched Reluctance Motor Based on Active Disturbance Rejection Sliding Mode Control. Transactions of China Electrotechnical Society, 0, (): 1277-1277.

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