磁悬浮永磁同步电机转子系统的参数辨识与控制

王波; 耿海鹏; 杜廷琛

doi:10.7652/xjtuxb202303010

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磁悬浮永磁同步电机转子系统的参数辨识与控制

—————————————————————— | 更新时间：2025-07-09

- 磁悬浮永磁同步电机转子系统的参数辨识与控制
- Parameter Identification and Control of Rotor System of Maglev Permanent Magnet Synchronous Motor
- 西安交通大学学报 2023年57卷第3期页码：106-116
- 作者机构：
  
  西安交通大学机械工程学院,西安,710049
- 作者简介：
  
  : 2022-05-31。作者简介: 王波(1996—),男,硕士生
  耿海鹏(通信作者),男,副教授,博士生导师基金项目: 工业和信息化部高新技术船舶研究项目(MIIT[2017]614)。
- 基金信息：
  
  : 2022-05-31。作者简介: 王波(1996—),男,硕士生;耿海鹏(通信作者),男,副教授,博士生导师基金项目: 工业和信息化部高新技术船舶研究项目(MIIT[2017]614)。
- DOI：10.7652/xjtuxb202303010
  中图分类号： TH133.3;TM355
- 网络首发：2023-03-10，
  
  纸质出版：2023
- 稿件说明：
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王波, 耿海鹏, 杜廷琛. 磁悬浮永磁同步电机转子系统的参数辨识与控制[J]. 西安交通大学学报, 2023,57(3):106-116.

WANG Bo, GENG Haipeng, DU Tingchen. Parameter Identification and Control of Rotor System of Maglev Permanent Magnet Synchronous Motor[J]. 2023, 57(3): 106-116.
王波, 耿海鹏, 杜廷琛. 磁悬浮永磁同步电机转子系统的参数辨识与控制[J]. 西安交通大学学报, 2023,57(3):106-116. DOI： 10.7652/xjtuxb202303010.

WANG Bo, GENG Haipeng, DU Tingchen. Parameter Identification and Control of Rotor System of Maglev Permanent Magnet Synchronous Motor[J]. 2023, 57(3): 106-116. DOI： 10.7652/xjtuxb202303010.

摘要

针对磁悬浮永磁同步电机转子系统在悬浮控制过程中

由于磁力参数不准确从而影响控制器的优化设计甚至破坏系统稳定性的问题

提出一种基于高斯调制函数法的磁力参数辨识方法

并设计滑模控制律对转子的稳态悬浮进行控制。首先

让磁悬浮转子系统在PID控制下闭环稳定

再以多正弦信号激励系统

利用高斯函数作为调制函数

对磁悬浮转子系统连续动力学模型进行数字调制积分

从而建立离散等价参数辨识模型; 然后

选择与磁悬浮转子系统频带覆盖范围相匹配的尺度参数构建高斯调制函数

对磁悬浮永磁同步电机实验台的磁力参数进行辨识; 最后

依据辨识所得的模型参数设计滑模控制器

实现永磁同步电机转子的稳态悬浮。所提方法避免了对微分信号的直接处理

同时又回避了积分初值问题

能够便捷、有效地辨识磁力参数; 所设计的滑模控制器使得磁悬浮转子系统拥有更好的稳态和动态性能。实验结果表明:根据所提方法设计的滑模控制器能够使转子在0.2 s内到达目标位置并保持稳定

其调节时间仅为PID控制的40%。

Abstract

In the process of suspension control of the rotor system of the maglev permanent magnet synchronous motor

inaccurate magnetic parameters affect the optimal design of the controller and even destroy the stability of the system

therefore in this paper

a magnetic parameter identification method based on Gaussian modulation function method is proposed

and the sliding mode control law is designed to control the steady-state suspension of the rotor. Firstly

the closed-loop stability of the maglev rotor system is made under PID control. Then

the continuous dynamic model of the maglev rotor system is digitally modulated and integrated with a multi-sine signal excitation system using the Gaussian function as the modulation function

and thereby the discrete equivalent parameter identification model is established. Next

the scale parameters matching the frequency band coverage of the magnetic suspension rotor system are selected to construct the Gaussian modulation function

and the magnetic parameters of the magnetic suspension permanent magnet synchronous motor experimental platform are identified. Finally

according to the identified model parameters

a sliding mode controller is designed to realize the steady-state suspension of the PMSM rotor. The proposed method avoids the direct processing of differential signals and the problem of the integral initial value

and it can identify the magnetic parameters conveniently and effectively. The sliding mode controller makes the magnetic suspension rotor system have better steady-state and dynamic performance. The experimental results show that the sliding mode controller designed according to the proposed method can make the rotor reach the target position within 0.2 s and keep stable

and the adjustment time only 40% of that of PID control.

关键词

Keywords

references

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