摘要
针对基于零增益自适应全阶观测器在中低速域范围内速度观测误差较大,收敛速度慢的问题,提出一种基于z域的自适应全阶观测器设计方法,以提高观测器鲁棒性。首先建立考虑边端效应的直线感应电机状态空间方程,通过在z域进行极点配置,获得离散观测器增益,并通过适当增加观测器增益有效减小观测误差;采用Lyapunov稳定性理论对速度自适应律进行设计;搭建基于Speedgoat的半实物仿真环境,完成对所提算法的有效性验证。结果表明:新型自适应全阶观测器稳态下速度误差约为0.1%左右;在突加负载状态下速度收敛时间约为0.3 s左右,速度波动降低至10%左右。该观测器能够有效减小速度的观测误差,提高收敛速度。
Addressing the issues of significant speed observation errors and slow convergence in the medium to low speed range associated with the zero-gain adaptive full-order observer(AFO),a design approach for an adaptive full-order observer in the Z-domain is proposed to enhance the observer's robustness.Initially,the state-space equation for a linear induction motor,incorporating edge effects,is formulated.By configuring poles in the Z-domain,the discrete observer gain is derived,and the observation error is effectively minimized by appropriately adjusting the observer gain.The Lyapunov stability theory is employed to design the speed adaptive law.A hardware-in-the-loop simulation environment,utilizing Speedgoat,is established to validate the efficacy of the proposed algorithm.The results indicate that the steady-state speed error of the novel adaptive full-order observer is approximately 0.1%.Under sudden load conditions,the speed convergence time is about 0.3 seconds,with speed fluctuations reduced to approximately 10%.Evidently,this observer effectively minimizes speed observation errors and accelerates convergence.
作者
钟德鸣
任梁杰
黄伟毅
胡海林
ZHONG De-ming;REN Liang-jie;HUANG Wei-yi;HU Hai-lin(School of Electrical Engineering,JiangXi University of Science and Technology,Ganzhou 341000,China)
出处
《磁性材料及器件》
2025年第3期11-16,共6页
Journal of Magnetic Materials and Devices
基金
江西省自然科学基金(20242BAB25325)。
关键词
直线感应电机
矢量控制
自适应全阶观测器
z域极点配置
linear induction motor
vector control
adaptive full order observer
Z-domain pole placement
