| Motors are energy transformation devices between electrical energy and mechanical energy, which have wide ranges of applications in the industry, agriculture, civil, defense, aerospace and other fields. However, the motor drive systems are typical nonlinear systems, but also are multidisciplinary research field, have become difficult and hot researches for scientists and engineers.In the fields of science and engineering, signal and energy are not only the basic physical concepts, but also are starting points of thinking. A dynamic system can be viewed as a signal conversion and energy conversion unity, which not only need of signal control, but also the need of energy control. In recent years, based on energy shaping control method of port-controlled Hamiltonian with dissipation(PCHD) system has been paid great attention. The main advantages of this method is that the Hamiltonian function of the closed-loop PCHD system can be used as a candidate Lyapunov function, which makes the system stability analysis, passivity and finite L2 gain, etc.. The main work of the thesis as follows:1. Firstly, the research status of motor drive systems is reviewed, including vector control(VC), direct torque control(DTC), and a variety of nonlinear control. The paper introduces some basic knowledge of the PCHD system based on energy shaping control method, including the passivity,dissipativity and stability meaning.2. In the paper, the speed tracking controller for induction motor(IM) is presented. Firstly, the model of IM is constructed, including three-phase model, two-phase static model, two-phase rotation model, and PCHD system model. Secondly, the L2 disturbance attenuation control of the IM system based on the state error PCHD system theory is proposed to solve the problem of the load disturbance. Thirdly, an adaptive controller is presented to compensate parameter perturbation of the rotor resistance. The simulation results show the controller has good tracking performance.3. For the speed tracking control of permanent magnet synchronous motor(PMSM), firstly, the PCHD model of the PMSM system is established. Secondly, for the energy shaping control more concise, the original PCHD model converts to the state error PCHD model by use of the canonical transformation. Finally, taking into account the uncertainties of PMSM during operation, the designing of the controller combines with adaptive technology.4. For designing speed control of the DC motor, the PCHD model of the three-phase PWM rectifier and DC motor is proposed. And then a novel state error PCHD approach presented and improving input power factor to unity of PWM rectifier. Finally, combined with load observer, the control input of the PWM rectifier duty ratio switch function is presented. The digital simulation results show the controller has good speed tracking and unit power factor control performance.5. Considering of parametric uncertainties and external disturbance of IM, the sliding mode method and L2-gain based disturbance attenuation controller for IM is presented, by use of the Euler-Lagrange(EL) model of IM system. Secondly, the theoretical analysis and design of sliding mode L2-gain based disturbance attenuation controller of the IM are given. According to the PMSM drive system, by using the backstepping method, combined with the passive control to design the controller, which guarantees the robustness of the system. The simulation results show that the proposed controllers have good tracking performance.Through theoretical analysis and numerical simulation, we can see that the motor drive control method based on the energy viewpoint is intuitive, rational and effective. And combined with adaptive technology, sliding mode control and L2 gain, the method can achieve unified and coordinated control of energy and signals. So the robust performance of the drive system has been greatly improved.
|
PDF Full Text Request