Research on Robust Adaptive Control of AC servomotors via Spiral Vector

交流伺服电机螺旋矢量鲁棒自适应控制研究

• 批准号: 13650493
• 负责人: SUEMITSU Haruo
• 金额: $ 2.05万
• 依托单位: Oita University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2001
• 资助国家: 日本
• 起止时间: 2001 至 2002
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-13650493/
• 关键词: Adaptive control; Spiral vector; Field-oriented control; Overshoot; Riccati equation; Induction motor; DC motor; Imaginary-axis shifting

Brushless DC motors have been widely used because of their attractive features - compactness, low weight, high efficiency, and easiness in control. The EMF of a brushless DC motor is a nonlinear function of the rotor position and speed. The speed/position control of AC servomotors is well known applications of nonlinear adaptive control theory. Though the control technique is generally adopted for speed and/or torque control application, AC motor drives are only slightly diffused in position control application. In this research, we try to improve the transient performance of the adaptive control system based on a Riccati equation. Yamamura proposed the spiral vector method to derive analytical solutions of electromagnetic transients of AC machines by introducing a new idea of damped inductance. We compare the spiral vector with the imaginary axis shifting in the control theory. Moreover, we present an adaptive control system with a spiral vector to improve the transient response in the position control system of induction motors and brushless DC (BLDC). An adaptive controller is designed based on the motor dynamics approximated by a second-order mechanical equation same as DC motors. We consider the relationship between the spiral vector method in the motor transient analysis and the imaginary axis shifting in the control theory. The adaptive controller with the imaginary axis shifting is presented based on the output feedback and designed for the position control of induction motors and brushless DC servomotor. The simulation results showed that the switching the spiral vector factor is available to reduce the overshoot magnitude of the closed loop system in the transient period.

无刷直流电动机以其体积小、重量轻、效率高、易于控制等优点得到了广泛的应用。无刷直流电动机的电动势是转子位置和转速的非线性函数。交流伺服电机的速度/位置控制是非线性自适应控制理论的重要应用。虽然控制技术通常用于速度和/或转矩控制应用，但交流电机驱动器仅在位置控制应用中略有扩散。在本研究中，我们尝试改善基于Riccati方程的自适应控制系统的暂态性能。Yamamura通过引入阻尼电感的新思想，提出了螺旋矢量法求解交流电机电磁瞬变的解析解。将螺旋矢量与控制理论中的虚轴位移进行了比较。此外，我们还提出了一种螺旋矢量自适应控制系统，以改善感应电机和无刷直流电（BLDC）位置控制系统的瞬态响应。基于与直流电动机相同的二阶力学方程近似的电机动力学，设计了自适应控制器。考虑了电机暂态分析中的螺旋矢量法与控制理论中的虚轴位移之间的关系。提出了一种基于输出反馈的虚轴漂移自适应控制器，设计用于感应电机和无刷直流伺服电机的位置控制。仿真结果表明，通过切换螺旋矢量因子可以减小闭环系统在瞬态期间的超调量。

项目成果

Takami Matsuo, Soon-Hyun Park, Haruo Suemitsu, Kazushi Nakano: "Velocity Estimation of Moving Object by Optical Flow Information"Proc. of International Symposium on Advance Control of Industrial Processes, Kumamoto. 203-208 (2002)

Takami Matsuo、Soon-Hyun Park、Haruo Suemitsu、Kazushi Nakano：“通过光流信息估计移动物体的速度”Proc。

Kouhei Oshio, Takami Matsuo, Haruo Suemitsu, Kazushi Nakano: "Fuzzy Adaptive Position Control of Brushless DC motors with Spiral Vector"Proc.of The 4th Asian Control Conference, CD-ROM. 323-328 (2002)

Kouhei Oshio、Takami Matsuo、Haruo Suemitsu、Kazushi Nakano：“螺旋矢量无刷直流电机的模糊自适应位置控制”第四届亚洲控制会议论文集，CD-ROM。

Takami Matsuo, Soon-Hyun Park, Haruo Suemitsu, Kazushi Nakano: "Velocity Estimation of Moving Object by Optical Flow Information"Proc. of International Symposium on Advanced Control of Industiral Processes, Kumamoto. 203-208 (2002)

Takami Matsuo、Soon-Hyun Park、Haruo Suemitsu、Kazushi Nakano：“通过光流信息估计移动物体的速度”Proc。

Takami Matsuo, Masafumi Nishikawa, Haruo Suemitsu and Kazushi Nakano: "Adaptive Decrypter of Chaotic Communication Systems Based on Riccati Equation"Proc. of the 4th Asian Control Conference, CD-ROM. 99-104 (2002)

Takami Matsuo、Masafumi Nishikawa、Haruo Suemitsu 和 Kazushi Nakano：“基于 Riccati 方程的混沌通信系统自适应解密器”Proc。

Takami Matsuo, Soon-Hyun Park, Haruo Suemitsu, Kazushi Nakano: "Velocity Estimation of Moving Object by Optical Flow Information"Proc.of International symposium on Advanced Control of Industrial Processes, Kumamoto. 203-208 (2002)

Takami Matsuo、Soon-Hyun Park、Haruo Suemitsu、Kazushi Nakano：“通过光流信息估计移动物体的速度”，工业过程先进控制国际研讨会论文集，熊本。