4 ELECTRI C MACHINES AND CONTROL Vol. 4 No. Jan. 2. 22 2. 28 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 9-3 - 23 969 962 98 2-4 i * t =
62 4 8 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 2. 2 2 2. 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()
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 =. 4 27 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
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 8 6 4 2 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%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 8 6 4 2 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%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 2 2 2 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
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