基于间接自适应鲁棒的永磁同步电机电流控制器设计
Current controller design of permanent magnet synchronous motor based on indirect adaptive robust control

针对永磁同步电机(PMSM)电流环非理想反电势的抑制问题, 本文提出一种基于鲁棒最小二乘(RRLS)自适应律的间接自适应鲁棒控制(IARC)方法. 该控制方法基于自适应鲁棒控制(ARC)理论, 根据电机状态方程构造最小二乘型自适应律, 加入修正因子增强自适应律对系统中扰动的鲁棒性. 本文理论证明了该方法的稳定性. 通过建立含有非理想反电势的电机模型, 设计IARC电流控制器, 并分析说明IARC具有比直接ARC更好的输出跟踪性能和扰动抑制能力. 最后, 通过仿真和实验验证了该方法的有效性.
This paper addresses the problem of non-ideal back emf minimization in permanent magnet synchronous motor (PMSM) and proposes an indirect adaptive robust control (IARC) with the robust recursive least square (RRLS) adaptation law. Based on the adaptive robust control (ARC), the least square adaptive law is synthesized in accordance with the motor model and then a correction factor is added to enhance the robustness of the adaptation law. Therefore,a better estimation of non-ideal back emf can be obtained with IARC. The stability of the system with the proposed controller is proved. Based on the PMSM model with non-ideal back emf, the current controller designed by IARC holds the better performance of tracking error and disturbance suppression than that by direct ARC. Finally, the effectiveness of the proposed method is demonstrated by the simulation and experiment.