摘要
针对转子电阻摄动和内外部扰动问题,设计了自适应反步控制方法来调节电机速度。首先,提出了一种改进指数趋近律的滑模磁链观测器,估算转子磁链并根据所得磁链计算出转子磁链角。其次,采用扰动观测器估计电机系统中出现的模型不确定性和负载扰动等。再次,利用反步控制法,求解出虚拟控制律和转子电阻自适应律,并设计自适应反步控制器。最后,将所设计的控制方法与传统反步控制方法进行对比,实验结果表明,所提方法的动态过程响应速度快、超调小,稳态过程跟踪精度高,且具有良好的抗干扰能力。
For the rotor resistance perturbation and internal and external disturbance,an adaptive backstepping control method is designed to adjust the motor speed.Firstly,a sliding mode flux observer with improved exponential reaching law is proposed to estimate the rotor flux and calculate the rotor flux angle according to the obtained flux.Secondly,a disturbance observer is used to estimate the model uncertainty and load disturbance in the motor system.Then,using backstepping control method,the virtual control law and rotor resistance adaptive law are solved,and the adaptive backstepping controller is designed.Finally,the control algorithm designed in this paper is compared with the traditional backstepping control method.The experimental results show that this method has fast dynamic process response speed,small overshoot,high steady-state process tracking accuracy and good anti-interference ability.
作者
满忠璐
于海生
孟祥祥
丁豪
MAN Zhonglu;YU Haisheng;MENG Xiangxiang;DING Hao(College of Automation,Qingdao University,Qingdao 266071,China;Shandong Provincial Key Laboratory of Industrial Control Technology,Qingdao 266071,China)
出处
《控制工程》
CSCD
北大核心
2024年第6期1044-1051,共8页
Control Engineering of China
基金
国家自然科学基金资助项目(61573203)
山东省自然科学基金资助项目(ZR2021MF005)。
关键词
异步电机
速度控制
自适应反步控制
滑模磁链观测器
扰动观测器
Induction motor
speed control
adaptive backstepping control
sliding mode flux observer
disturbance observer
