电励磁同步电机的U模型自抗扰无速度传感器控制

为有效抑制电励磁同步电机调速时负载等外部干扰对系统稳定性的不利影响,同时考虑到高强度干扰引发的编码器故障,提出一种基于U模型的自抗扰无速度传感器控制策略。首先针对高强度干扰对编码器的影响,建立了基于U模型的电机转速估计模型;然后将负载扰动归为未知扰动,利用扩张状态观测器对扰动进行观测,并将电机转速估计值作为速度反馈,通过反馈控制律进行主动补偿,提出基于U模型的自抗扰无速度传感器控制策略;最后对基于U模型的自抗扰控制器与传统PID控制器进行仿真和实验对比。结果表明,基于U模型的自抗扰控制器较传统PID控制器具有更好的动静态响应特性;基于U模型的自抗扰无速度传感器控制策略具有有效性;在编码器出现故障时,通过U模型对转速的估计仍可保证系统稳定运行,同时还可提高系统的动态性能和抗干扰能力。

A U model-based ADRC speed-sensorless control system for electrically excited synchronous motors

In order to offset effectively the negative influence of external disturbances such as motor load on system stability during motor speed regulation and eliminate encoder malfunction caused by high intensity interference, a U model-based active disturbance rejection controllers (ADRC) speed-sensorless control system for electrically excited synchronous motors was presented. First, in light of the influence of high intensity interference on the encoder, an estimation model of the actual motor speed based on U model was designed and the estimated motor speed was used as the feedback value of speed for the control system. Then ADRC achieved active compensation of the load disturbance by the feedback control law, which was classified as unknown disturbance and estimated by the extended state observer. On this basis, the control strategies for electrically excited synchronous motors based on U model ADRC were given. Simulation and experiments were conducted, which has verified the effectiveness of the proposed control system. Compared with PID controller, the U model-based ADRC has better static and dynamic response. In the experiments, even if the encoder has failed, estimation by U model can still guarantee the steady running of the control system and at the same time improve the anti-interference and dynamic performance of the system.