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A sliding-mode control of a Dual-PMSMs synchronization driving method

SONG Xiao-li,ZHANG Chi,GUO Ya-wei

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宋晓莉, 张驰, 郭亚伟. 一种双永磁同步电机滑模同步驱动控制方法[J]. , 2023, 16(6): 1482-1492. doi: 10.37188/CO.EN-2022-0026
引用本文: 宋晓莉, 张驰, 郭亚伟. 一种双永磁同步电机滑模同步驱动控制方法[J]. , 2023, 16(6): 1482-1492.doi:10.37188/CO.EN-2022-0026
SONG Xiao-li, ZHANG Chi, GUO Ya-wei. A sliding-mode control of a Dual-PMSMs synchronization driving method[J]. Chinese Optics, 2023, 16(6): 1482-1492. doi: 10.37188/CO.EN-2022-0026
Citation: SONG Xiao-li, ZHANG Chi, GUO Ya-wei. A sliding-mode control of a Dual-PMSMs synchronization driving method[J].Chinese Optics, 2023, 16(6): 1482-1492.doi:10.37188/CO.EN-2022-0026

一种双永磁同步电机滑模同步驱动控制方法

详细信息
  • 中图分类号:TP273

A sliding-mode control of a Dual-PMSMs synchronization driving method

doi:10.37188/CO.EN-2022-0026
Funds:Supported by National Natural Science Foundation of China (No. 11673045); Joint Found of National Natural Science of China (No. U2031147)
More Information
    Author Bio:

    Song Xiao-Li (1978—), female, born in Henan Province. She received her Ph.D. degree in astrophysics from the Graduate University of Chinese Academy of Sciences, China, in 2012. She won the Excellent Award of the President of the Chinese Academy of Sciences in 2012. She received her B.S. and M.S. degrees in Power Electronics and Power Drive from Anhui University of Science & Technology, China in 2001 and 2004, respectively. From 2012 to 2015, she was an assistant research fellow with the Telescope New Technology Laboratory, National Astronomical Observatories/Nanjing Institute of Astronomical Optics & Technology, Chinese Academy of Sciences. Since 2016, she has been an associate research fellow with the Telescope New Technology Laboratory, National Astronomical Observatories/Nanjing Institute of Astronomical Optics & Technology, Chinese Academy of Sciences. Her research interests focus on the driving & control of the axes control systems of large-aperture telescopes and the multi-motor driving and control of dynamic systems. She has published numerous papers in journals and international conferences, applied for and received several patents, and presided over and participated in many projects for the National Natural Science Foundation of China related to the above topics. E-mail:xlsong@niaot.ac.cn

    Corresponding author:xlsong@niaot.ac.cn
  • 摘要:

    速度同步性能和抗干扰性是影响双永磁同步电机(dual-PMSM)同步运行动态响应和稳态精度的重要因素。通过引入交叉耦合控制作为模型,提出了一种基于改进双功率趋近律的积分滑模速度跟踪控制器,以减小两台电机之间的速度误差。设计了负载转矩观测器,将观测值引入滑模控制(SMC)趋近律,以提高系统的抗干扰性能。同时,采用模糊比例积分微分(FPID)控制设计了同步控制器,以提高双永磁同步电机的同步性。验证结果表明,当目标转速为800 r/min时,与传统的PI算法相比,所提出的控制方法可以在空载启动时将两台电机的速度同步误差从25 r/min降低到12 r/min,在负载突然转矩下将速度同步误差由7 r/min降低至2.2 r/min,从而提高了同步性和抗干扰性。

  • Figure 1.Block diagram of the speed controller

    Figure 2.Structural block diagram of the disturbance torque observer

    Figure 3.Surface diagram of ∆kpvalue output

    Figure 4.Surface diagram of ∆kivalue output

    Figure 5.Overall block diagram of dual-motor synchronous control system

    Figure 6.Comparison of speed response waveforms between the improved and traditional reaching methods

    Figure 7.Speed waveforms obtained by different methods under no-load torque starting condition. (a) Conventional cross-coupled control. (b) Improved bi-power reaching method

    Figure 8.Synchronization error waveforms obtained by different methods under no-load torque startup condition. (a) Conventional cross-coupling control. (b) Improved bi-power reaching method sliding mode control

    Figure 9.Torque speed waveforms obtained by different methods under sudden load torque condition. (a) Conventional cross-coupling control. (b) Improved bi-power reaching method sliding mode control

    Figure 10.Synchronization error waveforms obtained by different methods under sudden surge load torque condition. (a) Conventional cross-coupling control. (b) Improved bi-power reaching method sliding mode control

    Table 2.kifuzzy rule table

    ∆$\omega_c $ ∆$\omega $
    NB NM NS ZE PS PM PB
    NB NB NB NB NM NS ZE ZE
    NM NB NB NM NS NS ZE PS
    NS NB NM NS NS ZE PS PM
    ZE NM NM NS ZE PS PM PM
    PS NM NM NS ZE PS PS PB
    PM ZE ZE PS PS PM PB PB
    PB ZE ZE PS PM PM PB PB
    下载: 导出CSV

    Table 1.kpfuzzy rule table

    ∆$\omega_c $ ∆$\omega $
    NB NM NS ZE PS PM PB
    NB PB PB PB PM PS ZE ZE
    NM PB PB PM PM ZE ZE NS
    NS PB PM PM PS ZE NS NS
    ZE PM PM PS ZE NS NM NM
    PS PM PS ZE NS NS NM NM
    PM PS ZE NS NM NM NM NB
    PB ZE ZE NM NM NB NB NB
    下载: 导出CSV

    Table 3.Parameters of the motor

    Parameters PMSM1 PMSM2
    R(Ω) 7.29 12.24
    L(mH) 0.14 0.18
    P 4 4
    J(kg∙m2) 0.000945 0.000885
    ωN(r/min) 1500 1500
    TN(N∙m) 2 2.5
    B(N∙m∙s) 0.0090577 0.0080581
    下载: 导出CSV

    Table 4.SMC controller parameters

    k1 k2 k3 c α β η
    PMSM1 5 3 50 0.2 0.13 2 0.0001
    PMSM2 5 3 1200 0.35 0.13 2 0.0001
    下载: 导出CSV
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出版历程
  • 收稿日期:2022-11-23
  • 录用日期:2023-01-30
  • 修回日期:2022-12-23
  • 网络出版日期:2023-06-06

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