基于受控拉格朗日函数的永磁同步电动机控制器设计
Stabilization controller design of permanent magnet synchronous motor based on controlled Lagrangians
摘要点击 56  全文点击 45  投稿时间:2019-09-19  修订日期:2019-12-04
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DOI编号  10.7641/CTA.2020.90786
  2020,37(6):1406-1412
中文关键词  永磁同步电动机  受控拉格朗日函数法  欠驱动力学系统  位置与速度镇定
英文关键词  permanent magnet synchronous motor  controlled Lagrangians  underactuated mechanical systems  position and velocity stabilization
基金项目  国家重点研发计划项目(2018YFB1201602??06), 国家自然科学基金地区项目(61164010)资助.
作者单位E-mail
李茂青 兰州交通大学 limq@mail.lzjtu.cn 
刘建强 兰州交通大学  
高锋阳 兰州交通大学  
张廷荣 兰州交通大学  
中文摘要
      本文将基于受控拉格朗日函数(CL)的控制器设计方法应用到高阶、强耦合、非线性的永磁同步电动机 (PMSM)的控制问题中. 利用期望的受控能量来构造受控拉格朗日函数, 并在广义力中引入速度一次项的保守力, 得到原始方程与受控方程相匹配的条件. 通过求解匹配条件中的偏微分方程, 得到的非线性光滑反馈控制律可同时 实现位置与速度的全局渐近镇定. 最后, 利用LaSalle不变定理对其进行证明. 仿真结果表明了控制律的有效性.
英文摘要
      In this paper, the controller design method based on the controlled Lagrangians (CL) is applied to control a high-order, strong coupled, nonlinear permanent magnet synchronous motor (PMSM). The CL is constructed by using the desired controlled energy, and the conservative force of the velocity term is introduced into the generalized force to obtain the matching condition of the original equations and the controlled equations. By solving the partial differential equations in the matching condition, we develop a nonlinear smooth feedback control law which ensures the global asymptotic stability of position and velocity simultaneously. Finally, the LaSalle invariance theorem is used to prove the stability. The simulation results show the effectiveness of the control law.