Y m G C I IMC C II IMC R Y = + C I IMC F f G - G^ + - F f G^ C I IMC D + C I IMC F f G - G^ 9 D() R() C IMC() Ⅱ CIMC() U() Ⅰ G() Y() Y m() - G

Size: px

Start display at page:

Download "Y m G C I IMC C II IMC R Y = + C I IMC F f G - G^ + - F f G^ C I IMC D + C I IMC F f G - G^ 9 D() R() C IMC() Ⅱ CIMC() U() Ⅰ G() Y() Y m() - G"

欻肉班
7 years ago
Views:

1 4 ELECTRI C MACHINES AND CONTROL Vol. 4 No. Jan TM 92 A 7-449X - 6- Three-degree-freedom internal model dynamic decoupling control of ynchronou motor ZHU Xi-rong ZHOU Yuan-hen FU Xiao 2. Department of Electrical Engineering Huaihai Intitute of Technology Lianyungang 22 China 2. School of Information and Electrical Engineering China Univerity of Mining and Technology Xuzhou 28 China Abtract The vector control can achieve tatic decoupling of the motor torque and flux linkage but can not get dynamic decoupling. The multi-degree freedom internal model decoupling wa preented. One-degree-freedom internal model DOF-IM decoupling control had coupling phenomenon when parameter changed in different percentage. Depite of the decreae in coupling two-degree-freedom internal model 2DOF-IM decoupling control method exited coupling. So three-degree-freedom internal model 3DOF-IM decoupling control wa propoed. By the deign of feedforward controller internal model controller and feedback filter the 3DOF-IM control decoupled completely. The reult of imulation and experiment how that the 3DOF-IM decoupling control method can achieve dynamic decoupling. Key word three-degree freedom internal model control dynamic decoupling coupling ynchronou motor i t i * m = i m 6-7PMSM i * t =

2 Y m G C I IMC C II IMC R Y = + C I IMC F f G - G^ + - F f G^ C I IMC D + C I IMC F f G - G^ 9 D() R() C IMC() Ⅱ CIMC() U() Ⅰ G() Y() Y m() - G 赞 () F f() Fig. Block diagram of 3DOC-IMC G = G^ Y = G^ C I IMC C II IMC R + - F f G^ C I IMC D 2 C I IMC C I IMC = G^ - - L L = λ + n pψ = L C II 2 IMC L L 2 = λ 2 + m u m = R + L i m - ω L i t L L 2 n m G^ u t = R + L i t + ω ψ + ω L i m } - - C I IMCC II IMC 2 i m i t M-T u m u t Y = G^ + L 2 R + - F f G^ + L D M-T R L L 2 ω ψ L F f i m i t F f = 2 IMC = 2 C Ι IMC IMC F f G F = - C Ι IMC G^ - C Ι IMC F f = IMC = C Ι IMC C Ι IMC IMC C Ι IMC F f R() E() U() Y() C IMC() G^ Ⅰ G() Y G G^ = G^ + m() G 赞 () G^ - G^ + G^ G^ - R 2 YD Fig. 2 Equivalent feedback block diagram of DOC-IMC G F() D()

3 63 2 U Y L 2 = R i * m i * t T u t = u t - ω ψ λ 2 + Y = G U IMC = L 2 Y = i m i t ] U = u m L u t ] = λ + λ 2 + C Ι IMC 3 G = R - + L - ω L F f = ω L R + L ] α + α 2 + C Ι IMC 3 IMC F f 4 L i m * u m i m L = λ + C Ι IMC C Ι IMC = G^ - L = R^ + L^ - ω L^ ω L^ R^ + ] L^ L R^ L^ L 2 G F = ] I - I λ + - G^ - λ + = G^ - = λ λ ω L^ R^ + L^ P N = 8. kw i C Ι N =. 69 A R =. 62 Ω IMC 3 G F L = H ω N = 7 rad / R L i * m i * t 姿姿姿 +L 赞棕 %L 赞棕 %L 赞 +L 赞解耦模型 u t R^ + L^ u m R +L u t 棕 %L - 棕 %L - ω L^ - R +L 棕 % 鬃电机数学模型 i m i t i * t 2 IMC F f i t i m λ 姿 + 姿 2+ 姿 + 姿 2+ Fig. 4 琢 + 琢 2+ 琢 + 琢 2+ 姿姿 +L 赞棕 %L 赞棕 %L 赞 +L 赞三自由度解耦网络 4 u t 棕 % 鬃 u t R +L 棕 %L - 棕 %L 棕 % 鬃电机数学模型 Block diagram of 3DOC-IMC decoupling 3 a 3 a b i * m i * t i * m t =. A 7 A i * t t = 2. A 26 A c 棕 % 鬃 d R^ =. R L^ = L λ =. e f 3 C Ι IMC c d λ. 2 Fig. 3 Block diagram of C Ι IMC decoupling c d e f i t

4 64 4 t r = 2. 2 λ 6 g h λ im%/a im%/a im%/a %%%%%%%%%%%%%%%%%%2%%%%%%%%%%3%%%%%%%%%4 (a)i m * 给定 %%%%%%%%%%%%%%%%%%2%%%%%%%%%%3%%%%%%%%%4 (c)i m 输出 %%%%%%%%%%%%%%%%%%2%%%%%%%%%%3%%%%%%%%%4 (e)i m 输出 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%2 (g)(c) 的局部放大图 it/a it/a it/a 3 %%%%%%%%%%%%%%%%%%2%%%%%%%%%%3%%%%%%%%%4 (b)i t * 给定 3 %%%%%%%%%%%%%%%%%%2%%%%%%%%%3%%%%%%%%%4 (d)i t 输出 3 %%%%%%%%%%%%%%%%%%2%%%%%%%%%%3%%%%%%%%%4 (f)i t 输出 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%2 (h)(e) 的局部放大图 Fig. The output curve of DOC-IMC decoupling imulation %%%%%%%%%%%%%%%%%%%2%%%%%%%%%3%%%%%%%%%4 %%%%%%%%%%%%%%%%%%%2%%%%%%%%%3%%%%%%%%%4 b (c)i m 输出 (d)i t 输出 F f = 4 7 a b 6 a b λ = Fig. 7 The output curve of 3DOC-IMC. λ 2 =. 8 6 c d λ =. 2 λ 2 = decoupling imulation. 4 6 a b c d e f im%/a im%/a %%%%%%%%%%%%%%%%%%2%%%%%%%%%3%%%%%%%%%4 (a)i m 输出 %%%%%%%%%%%%%%%%%%2%%%%%%%%%3%%%%%%%%%4 (c)i m 输出 g h IMC λ 2 F f 7 a b c d λ λ 2 λ λ 2 α α α 2 = λ λ 2 λ 6 Fig. 6 it%/a it%/a 3 %%%%%%%%%%%%%%%%%%2%%%%%%%%%3%%%%%%%%%4 (b) i t 输出 3 %%%%%%%%%%%%%%%%%%2%%%%%%%%%3%%%%%%%%%4 (d)i t 输出 The output curve of 2DOC-IMC decoupling imulation c 4 7 im%/a im%/a %%%%%%%%%%%%%%%%%%2%%%%%%%%%3%%%%%%%%%4 (a)i m 输出 it%/a it%/a 3 3 %%%%%%%%%%%%%%%%%%2%%%%%%%%%3%%%%%%%%%4 (b)i t 输出 7 a b 6 c d λ

5 6 d λ λ 2 TMS3F2833 khz F f Tutin DSP DSP SPI DAC7724 TDS2B 8 a b m / A 2 / CH i m CH2 i t (a) 一自由度内模解耦姿 =.2, ()=.R(), L 赞 ()=L () (b) 三自由度内模解耦姿 =. 姿 2=.2 琢 =. Fig. 8 琢 2=. ()=.R(),L 赞 ()=L () 8 Experimental curve of IMC decoupling 8 a e f -. 8 b 7 c d 4. M J SU Hongzhi HAO Wenhua. A new voltage - decoupled vector control ytem of AC induction motor J. Electric Machine and Control JUNG Jinhwan NAM Kwanghee. A dynamic decoupling control cheme for high-peed operation of induction motor J. IEEE Tran M. 6.. J ZHOU Yuanhen JIANG Jianguo. Dynamic decoupling control for aynchronou motor J. S & Melectric Machine HARNEFORS L NEE HP. Robut current control of AC machine uing the internal model control method J. IEEE HARNEFORS L NEE HP. Model-baed current control of AC machine uing the internal model control method J. IEEE Tran IA D D... J TIAN Mingxing WANG Shuhong LI Qingfu. Reearch on quadrature-direct axi current tranformation in vector control of alient-pole ynchronou motor J. Electric Machine and Control D J. CHEN Haixia ZHAO Yao PENG Li. Deign of three-degree- R L freedom internal model controller J & Application Technigue of Automation

jiàn shí

jiàn shí hào x n càn w i huàng ji zhèn yù yàng chèn yù bì yuàn ji ng cóng (11) qiàn xué 1 yì bì èi zhé mó yù ù chái sè bá píng sh chài y l guàn ch n shì qí fú luè yáo d n zèn x yì yù jù zhèn