摘要
针对传统控制算法难以克服开关磁阻电机的非线性并有效抑制转向叶片的负载扰动,因而无法对开关磁阻式机电作动器进行快速高精度位置跟踪控制的问题,提出了一种含实时电流补偿的自适应PI控制器。首先,通过负载观测器对作用于转向叶片上的空气动力负载进行实时估算,进而转化为电流环的实时补偿电流来抑制负载扰动的影响;然后,基于开关磁阻电机的转矩电流特性拟合曲线与实时电流反馈值对转速环PI参数进行自适应最优调节,从而削弱了开关磁阻电机的非线性,增强了机电作动器的转速调节性能;最后,通过引入位置前馈环节,有效提高了机电作动器的响应速度和位置跟踪精度。仿真和实验结果表明:相较于传统PI控制器、自适应PI控制器和含前馈环节的自适应PI控制器,所提控制器将开关磁阻式机电作动器的响应速度分别提高了49.3%、44.4%和30%,位置跟踪精度分别提高了54.8%、49.2%和2.9%,从而使得机电作动器具备更强的位置跟踪性能。
Aiming at the issue that conventional algorithms cannot overcome the nonlinearity of switched reluctance motor(SRM)and effectively suppress the load disturbance of steering vane,thus being unable to achievefast and high precision position tracking control of the electromechanical actuator(EMA)driven by SRM,an adaptive PI controller with real-time current compensation is proposed.Firstly,the aerodynamic load exerting on the steering vane is estimated in real time by the load observer and the data is converted into the real-time compensation current to input the current loop to suppress the load disturbance.Secondly,the proposed adaptive controller is used to adjust the PI parameters of the speed loop optimally and adaptively based on the fitting curve of the torque-current characteristic and the real-time current of SRM,which weakens the nonlinearity of SRM and increases the speed regulation performance of the EMA.Finally,the position feedforward is adopted to improve the response speed and further enhance the position precision of EMA.Compared with the conventional PI controller,the adaptive PI controller,and the adaptive PI controller with position feedforward,the results of the simulation and experiment show that the proposed controller can improve the response speed and the position tracking precision of the EMA by 49.3%,44.4%,30%and 54.8%,49.2%,2.9%respectively,which makes the EMA possess better position tracking performance.
作者
龙云
杜锦华
布家宝
梁得亮
LONG Yun;DU Jinhua;BU Jiabao;LIANG Deliang(State Key Laboratory of Electrical Insulation and Power Equipment,Xi’an Jiaotong University,Xi’an 710049,China;Shaanxi Key Laboratory of Smart Grid,Xi’an Jiaotong University,Xi’an 710049,China)
出处
《西安交通大学学报》
EI
CAS
CSCD
北大核心
2024年第2期184-194,共11页
Journal of Xi'an Jiaotong University
基金
国家重点研发计划资助项目(2020YFA0710500)
国家自然科学基金资助项目(52277065)。
关键词
机电作动器
开关磁阻电机
位置跟踪控制
电流补偿
自适应PI控制
electromechanical actuator
switched reluctance motor
position tracking control
current compensation
adaptive PI
