Five-DOF (freedom of degree) bearingless synchronous reluctance motor decoupling controller and construction method thereof

Abstract

The invention discloses a five-DOF (freedom of degree) bearingless synchronous reluctance motor decoupling controller and a construction method thereof. Three expanded current hysteresis loop PWM (pulse width modulation) inverters, a switch power amplifier and a five-DOF bearingless synchronous reluctance motor form a compound controlled object; five support vector machine second-order systems, one support vector machine first-order system and eleven integrators are utilized to construct a support vector machine alpha-order inverse system and offline training is carried out, the support vector machine alpha-order inverse system is placed in front of the compound controlled object to form a pseudo linear system, and the pseudo linear system is equivalent to five position second-order integration subsystems and one position first-order integration subsystem; and five position controllers and one rotating speed controller are respectively designed for the six integration subsystems, thus a linear closed-loop controller is formed. In the invention, a least square support vector machine is adopted to approach an alpha-order inverse model of a nonlinear system, the dynamic decoupling control among all the controlled variables is realized, and the control performance of the overall system is effectively improved.

Description

technical field [0001] The invention is a five-degree-of-freedom bearingless synchronous reluctance motor decoupling controller and a construction method thereof, which are suitable for the field of high-speed and ultra-high-speed electric transmission. Bearingless synchronous reluctance motors have broad application prospects in special electrical transmission fields such as machine tool spindles, turbomolecular pumps, centrifuges, compressors, electromechanical energy storage, and aerospace, and belong to the technical field of electrical transmission control equipment. Background technique [0002] Compared with the traditional bearingless motor, the synchronous reluctance motor has many advantages: the permanent magnet is omitted on the rotor, and there is no excitation winding, the structure is simple, the operation is reliable, the cost is low, and because it can achieve a high salient pole ratio, thus At the same time, it has the advantages of high torque density, fas...

AI Technical Summary

Problems solved by technology

If the decentralized control method is used to control the system, the coupling effect between the various variables of the system is ignored, and the requirements for high-speed and high-precision operation cannot be met. The system must be decoupled to independently control the radial suspension force of the magnetic bearing, the axis Levitational force, radial levitation force of motor and electromagnetic torque

[0004] Among the commonly used decoupling control methods, vector control can only realize the static decoupling control of torque and suspension force, and its dynamic response performance is not satisfactory; although the differential geometry method can realize the dynamic decoupling of the system, it needs to solve the problem Transformed into the geometric domain to discuss, and the mathematical tools used are quite complex and abstract; the inverse system method can realize the dynamic decoupling of the system, but it needs to know the precise mathematical model of the controlled object, which is difficult to apply in engineering practice; the neural network inverse Decoupling control can realize the dynamic decoupling of the system when the analytical inverse is difficult to obtain, but the neural network still has slow learning speed and long training time in terms of theory and design methods, it is difficult to extract ideal samples, and the network structure is not easy to optimize, etc. insurmountable flaw

[0005] The patent application number is 201010117622.4, and the name is: Bearingless Synchronous Reluctance Motor Support Vector Machine Inverse System Composite Controller. The support vector machine inverse system composite controller is used to decouple the two degrees of freedom bearingless synchronous reluctance motor. The control object is a two-degree-of-freedom bearingless synchronous reluctance motor, but for a five-degree-of-freedom bearingless synchronous reluctance motor with a more complex structure composed of a two-degree-of-freedom bearingless synchronous reluctance motor and a three-degree-of-freedom active magnetic bearing Unable to perform decoupling control, the five-degree-of-freedom bearingless synchronous reluctance motor not only has a more complex structure, but also considers the rotor as a rigid body and considers the coupling between the degrees of freedom of the system and The gyro effect of the system makes its mathematical model, control method, and decoupling difficulty essentially different from those of the two-degree-of-freedom bearingless synchronous reluctance motor

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