A Coordinated Finite-Time Anti-Saturation Control Method of Multi-motor Aggregate

A limited time, control method technology, applied in multiple motor speed/torque control directions, to achieve the effect of improving rapidity, reducing the possibility of control input saturation, and simplifying the exponentiation integral parameters

Active Publication Date: 2022-05-27
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

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  • A Coordinated Finite-Time Anti-Saturation Control Method of Multi-motor Aggregate
  • A Coordinated Finite-Time Anti-Saturation Control Method of Multi-motor Aggregate
  • A Coordinated Finite-Time Anti-Saturation Control Method of Multi-motor Aggregate

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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 amount synergistic finite-time anti-saturation control method:

[0051] S1. Considering parameter perturbation and load torque perturbation, the state equation of the motor is derived according to the equation in the rotating coordinate system of the permanent magnet synchronous motor; the equation in the rotating coordinate system is:

[0052]

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

[0054]

[0055] Select the state variable as the output angular velocity ω j =x 1j , angular acceleration Electromagnetic torque T ej =x 3j , which can be simplified to get:

[0056]

[0057] in, is a time-varying disturbance,

[0058] Consider that the resistance and inductance parameters of the motor change with temperature during the actual operation. Therefore, if the para...

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Abstract

The present invention provides a multi-motor total amount cooperative finite time anti-saturation control method, including the following steps: S1, deduce the state equation of the motor according to the theory of consistent total amount and the equation in the rotating coordinate system of the permanent magnet synchronous motor; S2, According to the parameters of the motor state equation in S1, an auxiliary anti-saturation system with finite time convergence is designed; S3, according to the theory that the motor state equation in S1 is consistent with the total amount, the error dynamics equation is constructed, and S4, according to the finite time convergence in S2 Auxiliary anti-saturation system and error dynamics equation in S3, based on non-singular terminal sliding mode design total synergistic finite-time controller, and simplified power integral parameters; S5, based on power integral technology and finite-time Lyapunov stability The theorem completes the stability proof of the aggregate cooperative finite-time controller and obtains the finite-time upper bound. The invention weakens the influence of input saturation on the overall traction performance, and provides convenience for practical engineering utilization.

Description

technical field [0001] The invention relates to the field of multi-motor traction systems, and more particularly, to a multi-motor total amount coordinated finite-time anti-saturation control method. Background technique [0002] The common driving method of electric locomotives is to provide power jointly by multiple permanent magnet synchronous motors. The complex and changeable operating environment of locomotives often causes the loss of traction performance of one or more motors. Classical control is to use synchronous 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 the locomotive, the theory of total consistency has been proposed in the multi-motor traction system, that is, to achieve the consistency of the sum of the output torques of each motor and the total traction characteristic curve. However, most of the control ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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