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Anti-saturation control method for multi-motor layered total amount optimal cooperation

A control method and multi-motor technology, applied in multiple motor speed/torque control, motor generator control, electronically commutated motor control, etc., can solve problems such as double saturation constraints, and achieve control input saturation problems, overall Low energy consumption and the effect of solving the problem of output saturation

Active Publication Date: 2022-01-21
HUNAN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Aiming at the problem that the complex multi-motor traction system is disordered and coordinated based on the consistency of the total amount, the input and output have double saturation constraints, and provides a multi-motor hierarchical total amount optimal coordination anti-saturation control method

Method used

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  • Anti-saturation control method for multi-motor layered total amount optimal cooperation
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  • Anti-saturation control method for multi-motor layered total amount optimal cooperation

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Experimental program
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Effect test

Embodiment 1

[0089] like figure 2 , to establish the coordinate system of the permanent magnet synchronous motor, where u s , u x and u y Respectively, the stator voltage vector and its components in the x-y coordinate system; i s i x and i y Respectively, the stator current vector and its components in the x-y coordinate system; ψ s 、ψ f are the stator and rotor flux vectors respectively; ω s , ω r Respectively, the electrical angular velocity of stator and rotor flux linkage rotation; θ r is the angle between the α-axis and the d-axis; θ s is the angle between the α-axis and the x-axis; δ is the angle between the x-axis and the d-axis, that is, the angle between the flux linkage of the stator and the rotor, also known as the load angle.

[0090] Taking the jth permanent magnet synchronous motor as an example, in the x-y two-phase stator synchronous rotating coordinate system, there is a stator flux linkage ψ sj = ψ xj , ψ yj = 0, then the relevant balance equation of the mo...

Embodiment 2

[0096] An anti-saturation control method for multi-motor hierarchical total optimal coordination, the steps include:

[0097] S1. according to the x-y coordinate system of the permanent magnet synchronous motor two-phase stator flux synchronous rotation in embodiment 1, establish the equation of stator flux linkage and electromagnetic torque, when adopting hidden pole type permanent magnet synchronous motor, then have L dj = L qj = L j On the basis of , the state equation of electromagnetic torque and stator flux linkage control of multi-motor is derived:

[0098] The state equation of the stator flux linkage control is:

[0099]

[0100] The state equation of electromagnetic torque control is:

[0101]

[0102] Among them, j=1,2...n, the number of multi-motors is n, ψ sj 、ψ fj are the stator and rotor flux vectors of the jth motor, T ej is the electromagnetic torque, ω rj is the electrical angular velocity of the rotor flux linkage, δ j is the load angle, L j i...

Embodiment 3

[0129] The steps for solving the KKT optimization conditions provided in this embodiment include:

[0130] S231. First express the constraints of the optimization problem in S22 as: g 1j (T ej )=0-T ej ≤0,g 2j (T ej ) = T ej -T ejmax ≤0, then introduce the slack variable a 1j and b 1j ,but:

[0131]

[0132] S232. Define the Lagrangian function equation as:

[0133]

[0134] where ε is the Lagrangian factor, μ 1j and μ 2j is the KKT factor.

[0135] S233. Derivation of T through partial derivatives e1 , T e2 ,...,T en ,ε,a 1j ,b 1j ,μ 1j ,μ 2j ,Available:

[0136]

[0137] S234. The analytical KKT condition shows that when the energy function is minimum, the partial derivative in the above formula must be 0, and we get:

[0138]

[0139] S235. Then it can be deduced that the solution result is: p 1 T e1 =p 2 T e2 =...=p n T en .

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Abstract

The invention provides an anti-saturation control method for multi-motor layered total amount optimal cooperation, which considers total amount consistency and output torque constraint in a total amount cooperative distribution given part, and solves optimal multi-shaft total amount cooperative distribution by using a KKT condition based on a target of lowest energy consumption. A control input saturation item is directly introduced into a dynamic integral part of a superhelix algorithm, a novel saturated superhelix sliding mode control algorithm is designed, control input constraints are effectively proved by utilizing a barrier Lyapunov function through mathematical conversion, and the problems of input saturation constraints and sliding mode buffeting are solved. Through combination of the overall framework, the problem of the input and output dual-saturation constraint in multi-motor total quantity cooperation can be effectively solved, and a certain theoretical basis and an engineering application are provided for distributed cooperation optimization control of an actual multi-motor network system.

Description

technical field [0001] The invention relates to the field of multi-motor traction systems, and more specifically, relates to an anti-saturation control method with multi-motor layered total optimal coordination. Background technique [0002] Multi-motor traction is a common driving method for electric locomotives. Although in the research of multi-motor cooperative control technology, control algorithms based on consistency theory; multi-motor coordinated control algorithms based on swarming, clustering, and formation; Multi-motor cooperative control strategies have been extensively developed. However, when the operating environment of the locomotive changes, in order to ensure the normal operation of the locomotive, the coordinated control of multiple motors can easily cause saturation of some motors, especially in the coordinated control technology based on the same total amount, that is, through the multi-motor redundancy Coordination of power to ensure that the sum of t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P6/04H02P21/00H02P21/30H02P21/14
CPCH02P6/04H02P21/0007H02P21/30H02P21/14
Inventor 张昌凡张乾何静刘建华
Owner HUNAN UNIV OF TECH