电工技术学报  2024, Vol. 39 Issue (18): 5639-5656    DOI: 10.19595/j.cnki.1000-6753.tces.231277
电机及其系统 |
基于自抗扰滑模控制的开关磁阻电机转矩分配控制策略
李宗霖1,2,3,4, 陈昊1,2,3,4, 戚湧5, 王冠钧6, 戈凯7
1.中国矿业大学电气工程学院 徐州 221116;
2.新能源电动车技术与装备中东欧国家国际联合研究中心 徐州 221008;
3.江苏省高校新能源发电与电动车国际合作联合实验室 徐州 221008;
4.徐州市新能源电动车技术与装备重点实验室 徐州 221008;
5.南京理工大学计算机科学与工程学院 南京 210094;
6.无锡市检验检测认证研究院 无锡 214101;
7.南京汽车集团有限公司汽车工程研究院 南京 211103
Torque Sharing Function Control Strategy for Switched Reluctance Motor Based on Active Disturbance Rejection Sliding Mode Control
Li Zonglin1,2,3,4, Chen Hao1,2,3,4, Qi Yong5, Wang Guanjun6, Ge Kai7
1. School of Electrical Engineering China University of Mining and Technology Xuzhou 221116 China;
2. International Joint Research Center of Central and Eastern European Countries on New Energy Electric Vehicle Technology and Equipment Xuzhou 221008 China;
3. International Cooperation Joint Laboratory of New Energy Power Generation and Electric Vehicles of Jiangsu Province Colleges and Universities Xuzhou 221008 China;
4. Xuzhou Key Laboratory of New Energy Electric Vehicle Technology and Equipment Xuzhou 221008 China;
5. School of Computer Science and Engineering Nanjing University of Technology Nanjing 210094 China;
6. Wuxi Inspection and Testing Certification Research Institute Wuxi 214101 China;
7. Automotive Engineering Research Institute Nanjing Automobile Group Nanjing 211103 China
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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,该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,该文采用新型滑模趋近律,用平滑函数代替符号函数,并引入状态变量,同时提升了响应速度并降低抖振;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,该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地改进控制系统在不同工况下的动态性能。
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李宗霖
陈昊
戚湧
王冠钧
戈凯
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. Switched reluctance motors (SRM) are applied in electric vehicles due to their simple structure, robust fault tolerance, and ease of control. Among them, motor torque ripple and system response speed are critical 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, including sliding mode approach law and sliding mode surface. The sign function used in the traditional exponential approach law can cause system oscillation and large chattering in the control system. The smooth function is used instead of the sign function, and the system state variable is introduced to improve control flexibility. At the same time, an improved integral sliding surface is proposed to improve the convergence of the traditional integral sliding surface. Because of the nonlinearity, the motor’s load torque and inherent parameters significantly affect the operation of the motor under variable speed and load conditions. 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.
Experimental results of an actual switched reluctance motor show that under steady-state operating conditions, when the motor load is 0.5 N·m and the set speeds are 500 r/min and 1 000 r/min, the proposed active disturbance rejection sliding mode control (ADRSMC) results in smaller motor pulsation. Under variable speed conditions, when the load torque is 0.2 N·m, the starting time of the system using PI control and traditional sliding mode control is 0.7 s and 0.25 s, and the variable speed response time is 0.65 s and 0.28 s. The starting time of the system with the proposed ADRSMC is 0.07 s, and the variable speed response time is 0.1 s. When the load torque is 0.5 N·m, the starting time of the system using PI control and traditional sliding mode control is 0.95 s and 0.3 s, and the variable speed response time is 0.73 s and 0.5 s. The starting time of the system with the proposed ADRSMC is 0.12 s, and the variable speed response time is 0.13 s. The proposed method reduces motor speed fluctuations under stable operation. Under variable load conditions, when the set speed is 500 r/min, the time for the system to return to the original state with PI control and traditional sliding mode control is 0.38 s and 0.12 s. The response time of the system with the proposed ADRSMC is 0.03 s. When the set speed is 1 000 r/min, the time for the system to return to the original state using PI control and traditional sliding mode control is 0.43 s and 0.33 s. The system’s response time with the proposed ADRSMC is 0.08 s, indicating that the proposed ADRSMC can approach the original speed in a relatively short period.
It can be concluded that the proposed control strategy can effectively reduce the torque ripple of the motor, improve the response time of the system, and enhance 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 (ADRESO)   
收稿日期: 2023-08-08     
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）和深圳市基础研究专项重点项目（JCYJ20220818100000001）资助
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,硕士研究生,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, 2024, 39(18): 5639-5656. 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, 2024, 39(18): 5639-5656.
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