PCH asynchronous motor with L2 gain disturbance rejection control technology
|Course||Control Theory and Control Engineering|
|Keywords||Hamiltonian System L2 Gain Asynchronous Motor Speed Control|
Asynchronous Motors drives are the most common electromechanical energy-transformation systems in industry, due to its reliability, ruggedness, and low cost. With the development of electronics and control technology, Asynchronous Motors replace of continuous current motor gradually to be the key power equipment. Asynchronous Motors have the characteristics of multiple variables, uncertain parameters, and so on. Vector control and direct torque control are both raised based of its dynamic model which can achieve the well static and dynamic performance. But there are some disadvantages of these two methods, vector control is easily attached by rotor resistance, direct torque control usually produces torque pulse.Aiming to the nonlinear properties of Asynchronous Motors, some experts apply some nonlinear methods to the motor control such as fuzzy control, intelligent control, backstepping control, passivity-based control, and so on. Many theoretical extensions and practical applications have been reported in the literature. Recently, the principle based on Energy-Shaping (ES) and Port-Controlled Hamiltonian (PCH) has attracted some motor control experts’ attention. In this paper, speed controllers of Asynchronous Motor are designed based on the theory of ES and PCHD.Firstly, we introduce the present situation and development tendency of Asynchronous Motors drive systems at home and abroad.Secondly, some basic theories of ES and PCHD control principle are introduced. Theory of L2 gain is also introduced, L2 gain from the load torque disturbance to a penalty signal may be reduced to any given level if the penalty signal is defined properly.Thirdly, with the coordinate transformation theory, Asynchronous Motors models are constructed in the stationary and rotating reference frame respectively. Then the PCHD model of Asynchronous Motors is given in dq frame. When there are no disturbances, speed controller of Asynchronous Motors is designed based on the state error PCHD control principle; when motor parameters and load torque exit disturbances, we designed the controller based on theory of L2 gain. To improve the dynamic performance, we apply PI control to the motor control.Then, the space vector pulse-width modulation (SVPWM) is introduced and the whole Asynchronous Motors drive system model is realized. And simulation with each controller is studied in Matlab/Simulink condition. Simulation results show the control methods are effective. Then, we compare the PCHD control method with vector control method.At last, the research works in this paper are summarized, the problems in the passed research are proposed and the future research works are also presented.