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Multi-motor total quantity cooperative finite time anti-saturation control method

A technology with limited time and control method, which is applied in the direction of multiple motor speed/torque control, etc., to achieve the possible effects of simplifying power integral parameters, improving rapidity, and reducing control input saturation

Active Publication Date: 2021-02-23
HUNAN UNIV OF TECH
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Problems solved by technology

[0004] The present invention aims at the complex multi-motor traction system in the prior art, especially based on the input saturation problem under the same total amount, and provides a multi-motor total amount cooperative limited time anti-saturation control method

Method used

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  • Multi-motor total quantity cooperative finite time anti-saturation control method
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  • Multi-motor total quantity cooperative finite time anti-saturation control method

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Embodiment Construction

[0049]The present invention will be further described below in conjunction with specific embodiments.

[0050]A multi-motor total cooperative limited time anti-saturation control method:

[0051]S1. Consider the parameter perturbation and load torque disturbance, and derive the state equation of the motor according to the equation under the rotating coordinate system of the permanent magnet synchronous motor; the equation under the rotating coordinate system is:

[0052]

[0053]Use i for a single motor in a multi-motor systemdj =0, the following equation can be obtained:

[0054]

[0055]Select the state variable as the output angular velocity ωj= X1j, Angular accelerationElectromagnetic torque Tej = X3j, Simplified to get:

[0056]

[0057]among them,Is a time-varying disturbance,

[0058]Consider that the resistance and inductance parameters of the motor change with temperature during actual operation. Therefore, the parameter perturbation and load torque disturbance are unified as unknown compound disturb...

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Abstract

The invention provides a multi-motor total quantity cooperative finite time anti-saturation control method. The method comprises the following steps: S1, deducing a state equation of a motor accordingto a total quantity consistency theory and an equation under a permanent magnet synchronous motor rotating coordinate system; S2, designing an auxiliary anti-saturation system with finite time convergence according to the parameters of the motor state equation in step S1; S3, constructing an error kinetic equation according to the theory that the motor state equation in the step S1 is consistentwith the total quantity; S4, designing a total quantity collaborative finite time controller based on a nonsingular terminal sliding mode according to the finite time convergent auxiliary anti-saturation system in step S2 and the error kinetic equation in step S3, and simplifying an addition power integral parameter; and S5, according to the power integral technology and the finite time Lyapunov stability theorem, completing stability certification of the total quantity collaborative finite time controller, and solving a finite time upper bound. The influence of input saturation on the overalltraction performance is weakened, and convenience is provided for actual engineering utilization.

Description

Technical field[0001]The present invention relates to the field of multi-motor traction systems, and more specifically, to an anti-saturation control method for the total amount of multi-motors in coordination with a limited time.Background technique[0002]Multiple permanent magnet synchronous motors provide power together is a common driving method for electric locomotives. The complex and changeable operating environment of locomotives often causes loss of traction performance of one or more motors. Classical control is to use synchronization control or consensus algorithm to achieve synchronization of individual states (such as speed, position, etc.) in the system. In recent years, in order to ensure the overall traction performance of locomotives, the theory of total consistency has been proposed in the multi-motor traction system, that is, the sum of the output torque of each motor is consistent with the total traction characteristic curve. However, most of the control rates pro...

Claims

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Application Information

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IPC IPC(8): H02P6/04
CPCH02P6/04
Inventor 张昌凡张乾何静刘建华
Owner HUNAN UNIV OF TECH
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