CN102904505A - Integrated inverse control method for six-phase permanent magnet synchronous linear motor - Google Patents
Integrated inverse control method for six-phase permanent magnet synchronous linear motor Download PDFInfo
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- CN102904505A CN102904505A CN2012104335927A CN201210433592A CN102904505A CN 102904505 A CN102904505 A CN 102904505A CN 2012104335927 A CN2012104335927 A CN 2012104335927A CN 201210433592 A CN201210433592 A CN 201210433592A CN 102904505 A CN102904505 A CN 102904505A
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- phase permanent
- synchronous motor
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- linear synchronous
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Abstract
The invention discloses an integrated inverse control method for a six-phase permanent magnet synchronous linear motor. During orienting according to a secondary magnetic chain, the six-phase permanent magnet synchronous linear motor forms a six-phase permanent magnet synchronous linear motor speed regulation system by a primary current d-axis component control method, wherein the d-axis component id is equal to 0; the invertibility of a system math model is analyzed, so that a right inverse control model of the six-phase permanent magnet synchronous linear motor speed regulation system is constructed; and on the premise that a function relation among speed and current as well as differential coefficients of the speed and the current exists, the function relation is substituted into the right inverse control model to form a novel integrated inverse system. A least square support vector machine (LSSVM) approaches a novel integrated inverse system model; the dynamic characteristic of the novel integrated inverse system model is represented by a corresponding integrator and a differentiator, so that an LSSVM integrated inverse system is obtained; and the LSSVM integrated inverse system is connected in series to the front part of the conventional system, and a controller is added, so that LSSVM integrated inverse control of the six-phase permanent magnet synchronous linear motor is realized. The integrated inverse control method is good in control effect and relatively high in interference resistance and robustness and is easy to implement.
Description
Technical field
The present invention relates to a kind of integrated contrary control method of six-phase permanent-magnet linear synchronous motor, be applicable to the technical field of electric drive control.
Background technology
Linear electric motors present great vitality as a kind of New-type electric machine in Modern Motion Control System.Along with the fast development of permanent magnetic material, the permanent-magnetism linear motor application with advantages such as energy-efficient, flexible structures is widened day by day.The multi-phase permanent linear synchronous motor is to the further developing of permanent magnetic linear synchronous motor, and has plurality of advantages: available low-voltage device is realized high-power, is particularly suitable for obtaining high pressure but needs the powerful occasion of output; Can significantly reduce motor harmonic loss, reduce motor torque ripple, improve system effectiveness and stability.Therefore be widely used in logistics system, industrial equipment, information and automated system, traffic and the many-side such as civilian, military.
Simultaneously, the control of multi-phase permanent linear synchronous motor requires also increasingly stringent.Yet, the multi-phase permanent linear synchronous motor is a multivariable close coupling non linear system, and owing to adopt direct drive mode, load disturbance, the disturbance of ripple thrust, frictional force disturbance and other uncertain disturbances can directly act on motor, have a strong impact on the control precision of motor.Traditional PID control strategy can not satisfy its control requirement; Adaptive PID Control then too relies on the parameter identification of object, and amount of calculation is large, and real-time is poor.In the Non-Linear Control Theory, sliding formwork control is because of fast response time, have very strong robustness to Parameter Perturbation and external disturbance, but this robustness is based upon on the basis that the controlled quentity controlled variable high frequency buffets, and the discontinuity during switching controls has increased the weight of the buffeting degree.Fuzzy-neural network method can obtain preferably speed tracking effect, but the method is a kind of strategy based on error control, can't fundamentally weaken non-linear factor to the impact of systematic function.Neural network inverse control is as a kind of feedback linearization method of intelligence, the nonlinear function that combines the height of the clear physics conception of method of inverse, understandable characteristics and neural net approaches the advantage strong with adaptive ability, is applied in the Alternating Current Governor System just more and more at present.
Obtain the prerequisite that accurate speed is multi-phase permanent linear synchronous motor reliability service and high performance control.With regard to conventional art, generally adopt the installation rate transducer to come measuring speed.Yet the introducing of velocity transducer has not only increased system cost and complexity, and has reduced system's reliability of operation and environmental suitability, has limited the range of application of multi-phase permanent linear synchronous motor.In recent years, Chinese scholars has been carried out widely research to the Speedless sensor technology, mainly contains based on the identification of winding back emf and the discrimination method that uses observation technology.
Summary of the invention
Goal of the invention: the present invention is take the six-phase permanent-magnet linear synchronous motor as object, and purpose provides a kind of integrated inverse system control method that is applicable to the multi-phase permanent linear synchronous motor, realizes simultaneously identification and the control of speed.
Technical scheme: the integrated contrary control method of a kind of six-phase permanent-magnet linear synchronous motor comprises:
During by secondary flux linkage orientation, the six-phase permanent-magnet linear synchronous motor adopts primary current d axle component i
d=0 control method consists of six-phase permanent-magnet linear synchronous motor governing system.Analyze the invertibity of six-phase permanent-magnet linear synchronous motor governing system Mathematical Modeling, make up on this basis the contrary control in the right side model of six-phase permanent-magnet linear synchronous motor governing system; Simultaneously, determining under the prerequisite that functional relation exists between speed and electric current and the derivative thereof, in the right contrary control model of this functional relation substitution, consisting of the novel all-in-one inverse system.Utilize least square method supporting vector machine (LSSVM) to approach described novel all-in-one inverse system model, and characterize its dynamic characteristic by associated quad device and differentiator, obtain the integrated inverse system of LSSVM.The integrated inverse system of LSSVM is connected on before the six-phase permanent-magnet linear synchronous motor governing system, and the design additional controller, realize the integrated contrary control of LSSVM of six-phase permanent-magnet linear synchronous motor.
Beneficial effect: compared with prior art, the integrated contrary control method of six-phase permanent-magnet linear synchronous motor provided by the invention has the following advantages:
1, the pseudo-linear system that obtains behind the series connection LSSVM integrated inverse system has been realized the linearisation of six-phase permanent-magnet linear synchronous motor governing system, makes to obtain high performance control effect by additional simple controller and become possibility.
2, the method for the present invention's proposition does not rely on system's inherent mechanism and priori, and the uncertain factors such as parameter variation and load disturbance are had stronger antijamming capability and robustness, has realized the high performance control of six-phase permanent-magnet linear synchronous motor.
3, the integrated inverse approach of LSSVM has been realized identification and the control of speed in a framework, and is simple in structure, be easy to realize; For the operation of the Speedless sensor of six-phase permanent-magnet linear synchronous motor provides a feasible new way.
Description of drawings
Fig. 1 is the structural representation of the embodiment of the invention;
Fig. 2 is the block diagram that the integrated inverse controller of the LSSVM of the embodiment of the invention is controlled six-phase permanent-magnet linear synchronous motor governing system.
Embodiment
Below in conjunction with specific embodiment, further illustrate the present invention, should understand these embodiment only is used for explanation the present invention and is not used in and limits the scope of the invention, after having read the present invention, those skilled in the art all fall within the application's claims limited range to the modification of the various equivalent form of values of the present invention.
The integrated contrary control method of six-phase permanent-magnet linear synchronous motor, implementation divides following 6 steps:
During 1, by secondary flux linkage orientation, the six-phase permanent-magnet linear synchronous motor adopts primary current d axle component i
d=0 control method, and combine with load and to consist of six-phase permanent-magnet linear synchronous motor governing system 1,1 model simplification of six-phase permanent-magnet linear synchronous motor governing system is the non linear system of the single output of single input, input variable is primary voltage q axle component u
q2, output variable is motor speed ω
r4.Select primary current q axle component i
q3 and motor speed ω
r4 is the quantity of state of six-phase permanent-magnet linear synchronous motor governing system 1, and the Mathematical Modeling that obtains is the second order state equation.
2, adopt the Interactor algorithm to six-phase permanent-magnet linear synchronous motor governing system 1 output variable (motor speed ω
r4) ask local derviation until the aobvious input variable u that contains
q2, obtaining its phase match exponents is second order.The right-inverge of six-phase permanent-magnet linear synchronous motor governing system 1 correspondence exists, and can determine that the input variable of its right-inverge is motor speed ω
r4 second dervative
Output variable is primary voltage q axle component u
q2.
3, according to the soft measure theory of left inverse, by being primary current q axle component i
q3 expression formula as can be known, motor speed ω
r4 with primary current q axle component i
q3 and first derivative
Between existence function relation, i.e. ω
r4 can be by passing through i
q3 and first derivative
Observe, obtain the speed measured value
In the right inversion model of this functional relation substitution, consist of novel integrated inverse system, its input variable is primary current q axle component i
q4 and motor speed ω
r3 second dervative
Output variable is the speed measured value
With primary voltage q axle component u
q2.
4, six-phase permanent-magnet linear synchronous motor governing system 1 is adopted primary current d axle component i
d=0 control method operation, with the at random square wave of realistic range of operation as input variable u
q2.Corresponding data is sampled, smothing filtering, asked for derivative and periodic sampling.Select Gaussian function K (x, x
i)=exp (|| x-x
i||
2/ 2 σ
2) as kernel function off-line training least square method supporting vector machine (LSSVM) 6.
5, the LSSVM 6 that off-line training is good adds two integrators, a differentiator consists of the integrated inverse system 7 of LSSVM, shown in the dotted line frame among the upper figure of Fig. 1.The integrated inverse system 7 of LSSVM is connected on before the six-phase permanent-magnet linear synchronous motor governing system 1, and six-phase permanent-magnet linear synchronous motor governing system 1 is linearized to be the pseudo-linear second-order system 8 of motor speed, shown in Fig. 1 figure below.
6, according to the method for designing of linear system, to the pseudo-linear second-order system 8 design additional controllers that obtain, adopt the simplest ripe, engineering to use maximum PID adjusters 9.With the integrated inverse system 7 of LSSVM and the PID adjuster 9 common integrated inverse controllers 10 of LSSVM (shown in seeing in the dotted line frame among Fig. 2) that form, the control that six-phase permanent-magnet linear synchronous motor governing system 1 is carried out, as shown in Figure 2.Cast out velocity transducer among the figure, realized the Speedless sensor operation of six-phase permanent-magnet linear synchronous motor governing system 1.
Claims (3)
1. the integrated contrary control method of six-phase permanent-magnet linear synchronous motor is characterized in that, comprising:
During by secondary flux linkage orientation, the six-phase permanent-magnet linear synchronous motor adopts primary current d axle component i
d=0 control method consists of six-phase permanent-magnet linear synchronous motor governing system;
Analyze the invertibity of six-phase permanent-magnet linear synchronous motor governing system Mathematical Modeling, make up on this basis the contrary control in the right side model of six-phase permanent-magnet linear synchronous motor governing system;
Determining under the prerequisite that functional relation exists between speed and electric current and the derivative thereof, in the right contrary control model of this functional relation substitution, be integrally formed novelization inverse system;
Utilize least square method supporting vector machine to approach described novel all-in-one inverse system model, and characterize its dynamic characteristic by associated quad device and differentiator, obtain the integrated inverse system of LSSVM;
The integrated inverse system of LSSVM is connected on before the six-phase permanent-magnet linear synchronous motor governing system, and the design additional controller, realize the integrated contrary control of LSSVM of six-phase permanent-magnet linear synchronous motor.
2. six-phase permanent-magnet linear synchronous motor as claimed in claim 1 is integrated against control method, it is characterized in that: describedly characterize its dynamic characteristic by associated quad device and differentiator, obtain the integrated inverse system of LSSVM, be specially: the LSSVM that off-line training is good adds two integrators, a differentiator consists of the integrated inverse system of LSSVM.
3. six-phase permanent-magnet linear synchronous motor as claimed in claim 1 is integrated against control method, it is characterized in that: the integrated inverse system of LSSVM is connected on before the six-phase permanent-magnet linear synchronous motor governing system, six-phase permanent-magnet linear synchronous motor governing system is linearized to be the pseudo-linear second-order system of motor speed, to the additional PID adjuster of pseudo-linear second-order system that obtains, the integrated inverse system of LSSVM and PID adjuster are formed the integrated inverse controller of LSSVM jointly, to the control that six-phase permanent-magnet linear synchronous motor governing system is carried out, realized the Speedless sensor operation of six-phase permanent-magnet linear synchronous motor governing system.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018045653A1 (en) * | 2016-09-12 | 2018-03-15 | 国电南瑞科技股份有限公司 | Quasi-inverse system control method for nonlinear system |
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| US6760715B1 (en) * | 1998-05-01 | 2004-07-06 | Barnhill Technologies Llc | Enhancing biological knowledge discovery using multiples support vector machines |
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2012
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| US6760715B1 (en) * | 1998-05-01 | 2004-07-06 | Barnhill Technologies Llc | Enhancing biological knowledge discovery using multiples support vector machines |
| US20050050087A1 (en) * | 2003-08-29 | 2005-03-03 | Milenova Boriana L. | Support vector machines in a relational database management system |
| CN102121499A (en) * | 2011-03-23 | 2011-07-13 | 江苏大学 | Construction method for five-degree-of-freedom alternative current active magnetic bearing support vector machine decoupling controller |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2018045653A1 (en) * | 2016-09-12 | 2018-03-15 | 国电南瑞科技股份有限公司 | Quasi-inverse system control method for nonlinear system |
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Application publication date: 20130130 |