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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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

Received: 09 October 2018 Published: 30 December 2019

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TM301

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	Yu Yang
	Tian Xia
	Cong Leyao
	Xie Renjie
	Mi Zengqiang

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Yu Yang,Tian Xia,Cong Leyao等. Energy Storage Control Method of Flexible Spiral Springs Driven by Permanent Magnet Synchronous Motor Based on Backstepping Control and Modal Estimation[J]. Transactions of China Electrotechnical Society, 2019, 34(24): 5084-5094.

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https://dgjsxb.ces-transaction.com/EN/10.19595/j.cnki.1000-6753.tces.181621 OR https://dgjsxb.ces-transaction.com/EN/Y2019/V34/I24/5084

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