CN118300464A - Linear oscillation motor speed observation method for improved hybrid terminal sliding mode - Google Patents

Linear oscillation motor speed observation method for improved hybrid terminal sliding mode Download PDF

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Publication number
CN118300464A
CN118300464A CN202410399365.XA CN202410399365A CN118300464A CN 118300464 A CN118300464 A CN 118300464A CN 202410399365 A CN202410399365 A CN 202410399365A CN 118300464 A CN118300464 A CN 118300464A
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China
Prior art keywords
sliding mode
hybrid terminal
improved
speed
improved hybrid
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CN202410399365.XA
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Chinese (zh)
Inventor
华杨
李想
黄伟
张冬冬
武新章
郭平辉
王素燕
赵志越
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Guangxi University
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Guangxi University
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Publication of CN118300464A publication Critical patent/CN118300464A/en
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P23/0009—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/12—Observer control, e.g. using Luenberger observers or Kalman filters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/032—Reciprocating, oscillating or vibrating motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/006—Controlling linear motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/02—Arrangements for regulating or controlling the speed or torque of electric DC motors the DC motors being of the linear type

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Linear Motors (AREA)

Abstract

The invention discloses a linear oscillation motor speed observation method of an improved hybrid terminal sliding mode, which belongs to the technical field of linear oscillation motor control and comprises the following steps: step 1: acquiring a current state equation of the linear oscillating motor; step 2: constructing an improved hybrid terminal sliding mode observer; step 3: selecting a sliding die surface as a second-order nonsingular terminal sliding die surface; step 4: setting a sliding mode control law of an improved hybrid terminal sliding mode observer; step 5: the improved hybrid terminal sliding mode observer is used for reconstructing the counter electromotive force, and calculating a speed estimation signal according to the proportional relation between the counter electromotive force and the speed, and the output end of the improved hybrid terminal sliding mode observer outputs the speed estimation signal. According to the sliding mode observer, the novel sliding mode surface is designed, the sliding mode control law is correspondingly limited, so that the sliding buffeting of the system can be effectively reduced, the speed observation error is further reduced, and the problem of large speed observation error of the existing sliding mode observer is solved.

Description

Linear oscillation motor speed observation method for improved hybrid terminal sliding mode
Technical Field
The invention belongs to the technical field of linear oscillation motor control, and particularly relates to an improved linear oscillation motor speed observation method for a hybrid terminal sliding mode.
Background
A Sliding Mode Observer (SMO) is a closed loop Observer with an error feedback link, is widely applied to the field of non-position sensor control, and has the attractive advantages of strong anti-interference capability, simple calculation, insensitivity to parameters and the like.
As shown in fig. 1, the conventional SMO is designed as follows: first, the electrodynamic equation of the linear oscillating motor is written: from the electrodynamic equation, the current state equation is: then, according to the current state equation, the conventional SMO can be designed as: Wherein, In order to observe the current flow,As an estimate of the value of R,For the estimated value of L, z is the control law of the observer. Is provided with The current error equation is: In the middle of Is the current error. For traditional SMO, the control laws are typically designed toK.gtoreq.e, where k is the switching gain and sgn (. Cndot.) is a sgn function. When the state variable reaches the sliding modeWhen the equivalent control law is obtainedThis means that SMO can reconstruct the information of back emf e. However, the control law contains a large number of switching signals, which greatly influences the quality of the estimation result. In general, the LPF is used to extract the estimated back EMF signal, the LPF has a transform function ofWhere ω c is the cutoff frequency and a is the argument of G (a). By integrating the back emf estimated by SMO, the piston stroke x can be calculated directly. The back electromotive force e is proportional to the piston velocity v and can be expressed asK i is the electromagnetic thrust coefficient, and the speed v can be calculated from the back electromotive force e.
From the above, SMO is a closed loop observer with current error feedback, which can improve the estimation accuracy and robustness of the algorithm. However, slip buffeting is an unavoidable problem for SMO systems. In the prior art, a saturation function or a sigmoid function is used to replace discontinuous switching functions, so that buffeting can be reduced to a certain extent, but an observer error cannot ensure zero convergence in a boundary layer, a vibration reduction effect is poor, and an error is large. The invention can be correspondingly and effectively reduced.
Disclosure of Invention
The invention provides an improved linear oscillation motor speed observation method for a hybrid terminal sliding mode, which can effectively reduce sliding buffeting of a system by designing a novel sliding mode surface and correspondingly limiting a sliding mode control law, further reduce speed observation errors and solve the problem of large speed observation errors of the traditional sliding mode observer.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
a linear oscillation motor speed observation method of an improved hybrid terminal sliding mode comprises the following steps:
Step 1: obtaining a current state equation through the deformation of an electric dynamic equation of the linear oscillating motor;
step 2: constructing an improved hybrid terminal sliding mode observer based on the current state equation in the step 1;
step 3: based on the improved mixed terminal sliding mode observer constructed in the step 2, the sliding mode surface is selected as a second-order nonsingular terminal sliding mode surface, and the formula is as follows Wherein beta >0 is a constant, p and q are both odd numbers satisfying 1<p/q < 2;
step 4: designing a sliding mode control law of an improved hybrid terminal sliding mode observer based on the sliding mode surface selected in the step 3;
Step 5: the improved hybrid terminal sliding mode observer is used for reconstructing the counter electromotive force, and calculating a speed estimation signal according to the proportional relation between the counter electromotive force and the speed, and the output end of the improved hybrid terminal sliding mode observer outputs the speed estimation signal.
Step 6: and introducing a low-pass filter at the output end of the improved hybrid terminal sliding mode observer to filter the output speed estimation signal.
Further, in step 1, the electrodynamic equation of the linear oscillating motor isAccordingly, the current state equation is
Further, in step 2, the formula of the constructed improved hybrid terminal sliding mode observer is as followsWhere u smo is the slip-mode control rate.
Further, in step 2, assume thatSubtracting the formula of the improved hybrid terminal sliding mode observer from the current state equation obtained in the step 1 to obtain a current error equation which is
Further, in step 4, the sliding mode control law is designed as follows: Wherein, Mu >0, k and mu are design parameters.
Further, in step 4, a variation index approach law is introduced and taken as
By adopting the technical scheme, the invention has the following beneficial effects:
1. the invention constructs an improved sliding mode observer of the hybrid terminal, and the current error can be calculated only by obtaining the current and voltage, so that the speed observation is realized, and the speed observation error is far smaller than that of the traditional SMO.
2. Compared with the traditional sliding mode control and low-pass filter, the improved hybrid terminal sliding mode observer is combined with the low-pass filter, and compared with the traditional sliding mode control and low-pass filter, the improved hybrid terminal sliding mode observer is similar to an actual motor system in terms of phase tracking, so that error reduction is facilitated.
3. The invention makes the state variable converged in a limited time, and omits the use of LPF, thereby being beneficial to improving the accuracy of piston stroke estimation.
4. According to the invention, by designing the novel sliding mode surface and correspondingly limiting the sliding mode control law, the sliding buffeting of the system can be effectively reduced, and further the speed observation error is reduced.
Drawings
FIG. 1 is a block diagram of a conventional SMO-based stroke estimation;
FIG. 2 is a schematic diagram of the improved hybrid terminal sliding mode observer of the present invention;
FIG. 3 is a simulation result of the effect of the present invention;
FIG. 4 is a comparison of specific speed output errors of the present invention;
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
An improved linear oscillation motor speed observation method for a hybrid terminal sliding mode comprises the steps 1-6.
Step 1: and obtaining a current state equation through the deformation of the electric dynamic equation of the linear oscillating motor. Wherein, the electric dynamic equation of the linear oscillation motor is thatAccordingly, the current state equation is
Step 2: an improved hybrid terminal sliding mode observer is constructed based on the current state equation in the step 1, and the formula is as follows Where u smo is the slip-mode control rate.
Assume thatSubtracting the formula of the improved hybrid terminal sliding mode observer from the current state equation obtained in the step 1 to obtain a current error equation which is
Step 3: based on the improved mixed terminal sliding mode observer constructed in the step 2, the sliding mode surface is selected as a second-order nonsingular terminal sliding mode surface, and the formula is as followsWhere β >0 is a constant, p and q are both odd numbers satisfying 1<p/q < 2. The sliding die surface can be used for enabling state variables to be changedThe convergence is faster, and higher estimation accuracy is obtained. From the equation of the sliding mode surface, it can be seen that when s reaches zero in a finite time, the system state will remain in the second order sliding modeAnd (3) upper part.
Step 4: based on the sliding mode surface selected in the step 3, designing a sliding mode control law of the improved hybrid terminal sliding mode observer as follows: Wherein, Mu >0, k and mu are design parameters. Introducing a variable index approach law and taking the variable index approach law asThe variable index approach law is used for improving the self-adaptive adjustment capability of the state variable in the arrival process, so that sliding buffeting is further restrained, and the influence of the outside on the system is reduced.
Step 5: the improved hybrid terminal sliding mode observer is used for reconstructing the counter electromotive force, and calculating a speed estimation signal according to the proportional relation between the counter electromotive force and the speed, and the output end of the improved hybrid terminal sliding mode observer outputs the speed estimation signal.
Step 6: and introducing a low-pass filter at the output end of the improved hybrid terminal sliding mode observer to filter the output speed estimation signal. The low-pass filter is introduced to the output end of the improved hybrid terminal sliding mode observer to filter the observed speed, and high-frequency noise in the speed estimation signal is removed, so that the signal is smoother and more stable.
In the drawings, fig. 2 is a schematic structural diagram of an improved sliding mode observer of a hybrid terminal, and as shown in fig. 3-4, the speed observation error of the invention is far smaller than that of the traditional SMO.
The invention constructs an improved sliding mode observer of the hybrid terminal, and the current error can be calculated only by obtaining the current and voltage, thereby realizing the observation of the speed. Compared with the traditional sliding mode control and low-pass filter, the improved hybrid terminal sliding mode observer is combined with the low-pass filter, and compared with the traditional sliding mode control and low-pass filter, the improved hybrid terminal sliding mode observer is similar to an actual motor system in terms of phase tracking, so that error reduction is facilitated. In addition, the invention makes the state variable converged in a limited time, and omits the use of LPF, thereby being beneficial to improving the accuracy of piston stroke estimation.
The foregoing description is directed to the preferred embodiments of the present invention, but the embodiments are not intended to limit the scope of the invention, and all equivalent changes or modifications made under the technical spirit of the present invention should be construed to fall within the scope of the present invention.

Claims (7)

1. The linear oscillation motor speed observation method of the improved hybrid terminal sliding mode is characterized by comprising the following steps of:
Step 1: obtaining a current state equation through the deformation of an electric dynamic equation of the linear oscillating motor;
step 2: constructing an improved hybrid terminal sliding mode observer based on the current state equation in the step 1;
step 3: based on the improved mixed terminal sliding mode observer constructed in the step 2, the sliding mode surface is selected as a second-order nonsingular terminal sliding mode surface, and the formula is as follows Wherein beta >0 is a constant, p and q are both odd numbers satisfying 1<p/q < 2;
step 4: designing a sliding mode control law of an improved hybrid terminal sliding mode observer based on the sliding mode surface selected in the step 3;
Step 5: the improved hybrid terminal sliding mode observer is used for reconstructing the counter electromotive force, and calculating a speed estimation signal according to the proportional relation between the counter electromotive force and the speed, and the output end of the improved hybrid terminal sliding mode observer outputs the speed estimation signal.
2. The improved linear oscillating motor speed observing method of the sliding mode of the hybrid terminal according to claim 1, wherein the method comprises the following steps: in step 1, the electrodynamic equation of the linear oscillating motor is as followsAccordingly, the current state equation is
3. The method for observing the speed of the linear oscillating motor of the improved hybrid terminal sliding mode according to claim 2, wherein the method comprises the following steps: in the step 2, the formula of the constructed improved hybrid terminal sliding mode observer is as followsWhere u smo is the slip-mode control rate.
4. The method for observing the speed of the linear oscillating motor of the sliding mode of the improved hybrid terminal according to claim 3, wherein the method comprises the following steps of: in step 2, assume thatSubtracting the formula of the improved hybrid terminal sliding mode observer from the current state equation obtained in the step 1 to obtain a current error equation which is
5. The method for observing the speed of the linear oscillating motor of the improved sliding mode of the hybrid terminal according to claim 4, wherein the method comprises the following steps of: in step 4, the sliding mode control law is designed as follows: Wherein, Mu >0, k and mu are design parameters.
6. The improved linear oscillating motor speed observing method of the sliding mode of the hybrid terminal according to claim 5, wherein the method comprises the following steps: in step 4, introducing a variation index approach law, and taking the variation index approach law as
7. The improved linear oscillating motor speed observing method of the sliding mode of the hybrid terminal according to claim 1, wherein the method comprises the following steps: further comprising step 6: and introducing a low-pass filter at the output end of the improved hybrid terminal sliding mode observer to filter the output speed estimation signal.
CN202410399365.XA 2024-04-03 2024-04-03 Linear oscillation motor speed observation method for improved hybrid terminal sliding mode Pending CN118300464A (en)

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