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[1]刘胜,徐东昊.潜器全方位推进器主轴转速鲁棒H∞控制器设计[J].电机与控制学报,2009,(02):276-281+286.
 LIU Sheng,XU Dong-hao.Design a robust H∞ controller for principal axis speed of variable vector propeller[J].,2009,(02):276-281+286.
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潜器全方位推进器主轴转速鲁棒H控制器设计(PDF)
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《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
期数:
2009年02
页码:
276-281+286
栏目:
出版日期:
2009-03-15

文章信息/Info

Title:
Design a robust H controller for principal axis speed of variable vector propeller
作者:
刘胜; 徐东昊
哈尔滨工程大学自动化学院
Author(s):
LIU Sheng; XU Dong-hao
关键词:
潜器 全方位推进器 永磁同步电机 鲁棒控制
Keywords:
submersible vehicle variable vector propeller permanent magnet synchronous motors robust control
分类号:
TP13
DOI:
-
文献标志码:
A
摘要:
针对潜器螺距调节式全方位推进器的工作环境和负载特性比较复杂的特点,为了提高全方位推进器主轴转速系统的动态性能和对参数扰动的鲁棒性,利用鲁棒控制理论,建立了永磁同步电机传动系统的反馈线性化模型,实现了主轴转速系统的鲁棒控制。该速度控制系统由负载转矩扰动估计器以及鲁棒控制器两部分构成。负载转矩扰动估计器主要用于负载扰动估计,以确保有效补偿负载扰动的影响。鲁棒控制器在电机参数发生变化和出现干扰的情况下,获得转速的跟踪性能。仿真结果表明,采用H∞鲁棒控制器的永磁同步电机主轴转速控制系统较传统的PID控制系统具有更好的跟踪性能、鲁棒稳定性和抗干扰性能。
Abstract:
Due to the complicated working environment and load characteristics of variable vector propeller of submersible vehicle,the feedback linearization model of system of permanent magnet synchronous motor was established to control by using robust control theory.By using this control algorithm,the dynamical performance and robustness on parameters of system can be enhanced.This speed control system consisted an external load torque estimator and a robust controller.The external load torque estimator was used to provide the external load torque estimation,the influence of the load disturbance can be effectively compensated.The robust controller can asymptotically track the rotor speed under parameter uncertainties and disturbance.The simulation results show that the robust stability,tracking ability and disturbance rejection performance of the permanent magnet synchronous motor principal axis speed control system with the robust controller are better than that with PID controller.

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更新日期/Last Update: 2009-07-08