文档名：基于几何约束优化的重复控制器及PMSM电流谐波抑制应用
摘要：重复控制器凭借其具有多个谐振峰而广泛应用于电流谐波抑制领域,然而在实际电机控制系统中,由于系统采样频率固定而电流谐波频率随电机转速而变化,会导致重复控制器中出现分数阶延时环节,而该环节在实际控制器中无法实现.对此,该文针对现有分数阶处理方法进行讨论,分析了插值逼近方法中插值系数对重复控制器整体频率特性的作用,据此提出基于几何约束优化的分数阶重复控制器,通过优化各插值系数,电机在全转速范围内都可以保证谐振频率和电流谐波频率相吻合,并且谐振峰值更符合电机谐波组成规律;还分析了滤波器所处反馈回路位置对频率特性的影响,作为组合滤波器设计依据;为保证系统稳定,对包含PI、重复控制器以及离散电机模型的电流控制系统进行稳定性分析,并作为控制参数选取依据.最后,通过台架实验验证了该文所提出的方法的谐波抑制性能是更优的.
Abstract：Duetothestructuraldefectsofthepermanentmagnetsynchronousmotorandvariousnonlinearfactorsinthedrivingcircuit,thethree-phasecurrentinthemotorcontainscurrentharmonicsofvariousorders,whicharemainly(6k±1)(kisapositiveinteger)orders.Thesecurrentharmonicsof(6k±1)ordersinthenaturalcoordinatesystemwillbedisplayedas6kordersafterthecoordinateischangedtothetwo-phaserotatingcoordinatesystem.Atthesametime,thetransferfunctionoftherepetitivecontrollerhasmultipleresonancepeaks,anditsresonancefrequencyisamultiplerelationship.Thus,therepetitivecontrolleriswidelyusedforsuppressingthecurrentharmonicsofpermanentmagnetsynchronousmotors.However,thesamplingperiodofthemotorcontrollerisfixedintheactualcontrolsystem,andthecurrentharmonicfrequencychangeswiththemotorspeed,causingafractionaldelaylinkintherepetitivecontroller.ThemostcommonlyusedmethodtosolvethisproblemisLagrangeinterpolationtoapproximatethefractionaldelaylink.Thispaperfirstanalyzestheshortcomingsofthismethod,andthendiscussesthemethodofLagrangeinterpolationtoapproximatefractionalorderwithnumericalanalysis.ThereareunnecessaryspecificconstraintsbetweenLagrangeinterpolationcoefficients,andabetterharmonicsuppressioneffectcanbeachievedbyreasonablyconfiguringtheinterpolationcoefficients.Then,thecoefficientintheinterpolationapproximationmethodismappedtocompoundcircularmotion,combinedwiththeamplitude-frequencycharacteristicsurfaceoftheproposedrepetitivecontroller.Theeffectsoftheinterpolationcoefficientontheresonantfrequencyandharmonicpeakvalueoftherepetitivecontrollerareanalyzed,andafractional-orderrepetitivecontrollerbasedongeometricconstraintoptimizationisproposed.Theresonancefrequencyandcurrentharmonicfrequencyofthemotorcanbeguaranteedtocoincideinabroaderrangeofspeeds.Moreover,theresonancepeakvalueisconsistentwiththeharmoniccompositionofthemotor,thusachievingabetterharmonicsuppressioneffect.Therepetitivecontrollerwithalargeresonancepeakinthehigh-frequencypartwillcausesysteminstability.Thispaperalsointroducesthecombinedfilter,anddiscussestheinfluenceofthefeedbacklooppositionofthefilterontheresonancefrequencyandpeak.ThispaperintroducesthesensitivityfunctionandcombinestheNyquistcurvetoanalyzethestabilityofthecurrentcontrolsystem,includingPI,repetitivecontroller,anddiscretemotormodel.First,theinfluenceofPIcontrollergainKonthesystem'sstabilitywithoutarepetitivecontrollerisanalyzed.AfterdeterminingthevalueofK,theinfluenceofrepetitivecontrollergainKrcandinternalmodelcoefficientQonthestabilityofthesystemisdiscussed,andthevaluesofKrcandQaredetermined.Afterallparametersaredetermined,thestabilityofthecurrentcontrolsystematdifferentmotorspeedsisalsodiscussed.Finally,theexperimentsofnorepetitivecontroller,rounding,Lagrangeinterpolation,andtheimprovedrepetitivecontrollerproposedinthispaperarecarriedoutonthemotorbenchatdifferentspeeds.ThecurrentwaveformandFFTanalysisverifythattheharmonicsuppressionperformanceoftheproposedmethodisgood.
作者：朱元 朱醴亭 肖明康 孟令Author：ZhuYuan ZhuLiting XiaoMingkang MengLing
作者单位：同济大学汽车学院上海201804
刊名：电工技术学报
Journal：TransactionsofChinaElectrotechnicalSociety
年，卷(期)：2024, 39(4)
分类号：TM351
关键词：分数阶延时环节 重复控制器 控制稳定性 谐波抑制 永磁同步电机(PMSM)
Keywords：Fractionalorderdelay repetitivecontroller controlstability harmonicsuppression permanentmagnetsynchronousmotor(PMSM)
机标分类号：TM341TP273TM464
在线出版日期：2024年3月5日
基金项目：江西省重点研发计划-产业链科技创新联合体资助项目基于几何约束优化的重复控制器及PMSM电流谐波抑制应用[
期刊论文] 电工技术学报--2024, 39(4)朱元 朱醴亭 肖明康 孟令重复控制器凭借其具有多个谐振峰而广泛应用于电流谐波抑制领域,然而在实际电机控制系统中,由于系统采样频率固定而电流谐波频率随电机转速而变化,会导致重复控制器中出现分数阶延时环节,而该环节在实际控制器中无法实现...参考文献和引证文献
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基于几何约束优化的重复控制器及PMSM电流谐波抑制应用 Repetitive Controller Based on Geometric Constraint Optimization and Its Application to Current Harmonic Suppression of PMSM
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