基于状态约束的异步电动机命令滤波反步控制

微特电机 ›› 2020, Vol. 48 ›› Issue (10): 44-50.

基于状态约束的异步电动机命令滤波反步控制

吕振祥, 于金鹏, 于海生

青岛大学自动化学院,青岛 266071

收稿日期:2019-07-23 出版日期:2020-10-28 发布日期:2020-10-22
作者简介:吕振祥(1996—),男,硕士研究生,研究方向为电机控制。
基金资助:
国家重点研发计划项目(2017YFB1303503);国家自然科学基金项目(61573204);泰山学者工程专项经费资助(TSQN20161026)

State Constraints-Based Command Filtered Backstepping Control for Induction Motors

LÜ Zhen-xiang, YU Jin-peng, YU Hai-sheng

School of Automation, Qingdao University,Qingdao 266071,China

Received:2019-07-23 Online:2020-10-28 Published:2020-10-22

摘要/Abstract

摘要： 针对传统反步法无法约束异步电动机状态量的问题,引入障碍Lyapunov函数约束状态变量幅值,保证了异步电动机驱动系统的转子角速度、定子电流等状态始终在给定的区间内。利用模糊逻辑系统逼近系统中的非线性函数,并通过引入带有误差补偿的命令滤波控制(CFC)技术克服了传统反步法存在的“计算膨胀”的问题,构建了基于状态约束的命令滤波模糊自适应控制器。仿真结果表明了设计的控制器不仅实现了有效的位置跟踪,并且将转子角速度、定子电流等状态量限制在了给定的约束区间内,避免了因违反状态约束而引发的安全性问题。

关键词: 状态约束, 障碍Lyapunov函数, 命令滤波控制, 异步电动机, 模糊控制

Abstract: Aiming at the problem that the traditional backstepping method can not constrain the state variables of induction motors (IMs) , the barrier Lyapunov function(BLF) was introduced to constrain the amplitude of state variables, which guarantees that the rotor angular velocity and stator current of the induction motor drive system are always in a given range. The fuzzy logic system was used to approximate the nonlinear functions in the system, and the command filtering control(CFC) technology with error compensation was introduced to overcome problem of “explosion of complexity” in the traditional backstepping design procedure , and a fuzzy adaptive controller based on state constraints and command filtering was constructed. The simulation results showed that the designed controller not only achieved the desired position tracking effect, but also limited the state variables such as rotor angular velocity and stator current to the given constraint interval, avoiding the security problems caused by violation of the state constraints.

Key words: state constraints, barrier Lyapunov function(BLF), command filtering control (CFC), induction motors, fuzzy control

中图分类号:

TM343

吕振祥, 于金鹏, 于海生. 基于状态约束的异步电动机命令滤波反步控制[J]. 微特电机, 2020, 48(10): 44-50.

LÜ Zhen-xiang, YU Jin-peng, YU Hai-sheng. State Constraints-Based Command Filtered Backstepping Control for Induction Motors[J]. Small & Special Electrical Machines, 2020, 48(10): 44-50.

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