CN107168048A - Traction electric machine control method and device - Google Patents
Traction electric machine control method and device Download PDFInfo
- Publication number
- CN107168048A CN107168048A CN201710295466.2A CN201710295466A CN107168048A CN 107168048 A CN107168048 A CN 107168048A CN 201710295466 A CN201710295466 A CN 201710295466A CN 107168048 A CN107168048 A CN 107168048A
- Authority
- CN
- China
- Prior art keywords
- signal
- controlled object
- output
- imfac
- current feedback
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000012545 processing Methods 0.000 claims abstract description 13
- 238000004364 calculation method Methods 0.000 claims description 28
- 230000008569 process Effects 0.000 claims description 5
- 238000012546 transfer Methods 0.000 claims description 4
- 238000013461 design Methods 0.000 abstract description 6
- 230000003044 adaptive effect Effects 0.000 abstract description 2
- 230000004069 differentiation Effects 0.000 abstract description 2
- 230000010354 integration Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
- G05B13/024—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system in which a parameter or coefficient is automatically adjusted to optimise the performance
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The present invention provides a kind of traction electric machine control method and device, and method includes：Standard signal and current feedback signal to desired output carry out asking poor, and the signal output that difference is obtained to modified model-free adaption (Improve Model Free Adaptive Control, abbreviation IMFAC) controller will be asked to carry out calculating processing；The control signal obtained after the processing of IMFAC controllers is exported to controlled device, so that the controlled device is run under the driving of the control signal；The output signal produced when the controlled device is run is exported to be compensated to differentiation element, and using the signal after the compensation as current feedback signal, return perform it is described by the standard signal of desired output and current feedback signal ask the step of difference.This programme is controlled device design merely with the real-time measuring data of controlled device, and independent of the dynamic model parameters of controlled device, debugging is simple, be easily achieved and robustness is good.
Description
Technical Field
The invention relates to the field of induction motors of high-speed motor train units, in particular to a traction motor control method and device.
Background
The high-speed motor train unit generally adopts the induction motor as the traction motor, because the induction motor has the advantages of high rotating speed, small rotational inertia, firm and durable mechanical structure, good traction characteristic and the like, the starting torque and the current of the motor are larger, the motor is in an overexcitation state in the acceleration starting stage, and the magnetic saturation range allowed by the design of the motor and the short-time overload capacity of the current are fully utilized to obtain larger acceleration, so that the vehicle can reach the given speed in a shorter time.
In the prior art, a traction motor is generally controlled by adopting a proportional-Integral-Derivative (PID), and the PID control is the most extensive and mature technology in practical application, and at present, more than 95% of control methods used in industrial processes are PID control methods. In brief, the PID controls each calibration segment to function as follows:
and (3) proportional links: the controller is adapted to produce a control action to reduce the deviation upon occurrence of the deviation. The larger the proportional coefficient is, the stronger the control action is, the better the dynamic characteristics of the controlled object are, the dynamic performance is mainly expressed as fast start-up, and the setting of the step is followed fast.
And (3) an integration step: the method is mainly used for eliminating the static error and improving the zero-error degree of the controlled object. The strength of the integration depends on the integration time constant, and the larger the integration time constant is, the weaker the integration is, and vice versa.
And (3) differentiation: reflects the variation trend (change rate) of the deviation signal, and can introduce an effective early correction signal into the controlled object before the deviation signal becomes too large, thereby quickening the action speed of the controlled object, reducing the adjusting time, being beneficial to reducing overshoot, overcoming oscillation and improving the stability of the controlled object.
The PID control method has complex correction links and heavy calculation burden, the PID control depends on a model of a controlled object, and the model of the controlled object can be changed due to mechanical wear and aging of electrical elements in an actual working environment, so that the robustness of the PID control is poor.
Disclosure of Invention
The invention provides a traction motor control method and a traction motor control device, which are used for solving the problems that the control method in the prior art is complex and heavy in calculation burden, and the control method is poor in robustness due to the fact that the control method depends on a controlled object model.
A first aspect of the present invention provides a traction motor control method, including:
performing difference calculation on a standard signal expected to be output and a current feedback signal, and outputting a signal obtained by difference calculation to an Improved Model Free Adaptive Control (IMFAC) controller for calculation processing;
outputting a control signal obtained after the IMFAC controller processes to a controlled object so that the controlled object operates under the driving of the control signal;
and outputting an output signal generated when the controlled object runs to an advance link for compensation, taking the compensated signal as a current feedback signal, and returning to the step of performing the difference calculation on the standard signal expected to be output and the current feedback signal.
A second aspect of the present invention provides a traction motor control apparatus comprising: the system comprises an operation module, an IMFAC controller, a controlled object and an advance link;
the output end of the operation module is connected with the input end of the IMFAC controller, the output end of the IMFAC controller is connected with the input end of the controlled object, the output end of the controlled object is connected with the input end of the advance link, and the output end of the advance link is connected with the input end of the operation module;
the operation module is used for carrying out difference calculation on the standard signal expected to be output and the current feedback signal and outputting a signal obtained by difference calculation to the IMFAC controller;
the IMFAC controller is used for calculating a signal obtained by calculating the difference and outputting a control signal obtained after calculation to the controlled object so as to enable the controlled object to operate under the driving of the control signal;
the controlled object is used for outputting an output signal generated when the controlled object operates to the leading link for compensation;
and the leading link is used for compensating the signal output by the controlled object, outputting the compensated signal to the operation module as a current feedback signal, and enabling the operation module to perform difference calculation on the standard signal and the current feedback signal.
According to the traction motor control method and device provided by the invention, a difference signal of a standard signal expected to be output and a current feedback signal is output to an IMFAC controller for processing to obtain a control signal, and the control signal is output to a controlled object to enable the controlled object to operate; and then, an output signal generated when the controlled object runs is compensated by a lead link and then is used as a current feedback signal. The scheme only utilizes the standard signal expected to be output by the controlled object and the output signal generated when the controlled object runs to design the controller, does not depend on the dynamic model parameter of the controlled object, and has the advantages of simple debugging, easy realization, high response speed and good robustness.
Drawings
Fig. 1 is a schematic flow chart of a traction motor control method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a traction motor control device according to an embodiment of the present invention;
fig. 3 is a schematic circuit diagram of a traction motor control device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic flow chart of a traction motor control method according to an embodiment of the present invention, and as shown in fig. 1, the method includes the following steps:
11. performing difference calculation on the standard signal expected to be output and the current feedback signal, and outputting a signal obtained by difference calculation to an IMFAC controller for calculation processing;
specifically, for a standard signal of a uniformly bounded desired output for a system, there is a uniformly bounded feasible control input signal such that the system's output is equal to the desired output of the system as driven by the control input signal.
12. Outputting a control signal obtained after the IMFAC controller processes to a controlled object so that the controlled object operates under the driving of the control signal;
specifically, the controlled object may be a nonlinear large-delay object, and the transfer function of the controlled object is Gp(s)e-τsWhere τ is the lag time of the nonlinear large latency object. For example, the controlled object may be a traction motor.
13. And outputting an output signal generated when the controlled object runs to an advance link for compensation, taking the compensated signal as a current feedback signal, and returning to the step of performing the difference calculation on the standard signal expected to be output and the current feedback signal in the step 11.
For example, in a practical application scenario, the algorithm of the IMFAC controller is as follows:
if it is notOne of the following three conditions is satisfied,
then:
wherein,is an online estimation value of phi (k), which represents a pseudo gradient vector of a nonlinear large delay system, and is recorded as follows:
wherein u (k) ∈ RL、y(k)∈RLRespectively representing the input and the output of the nonlinear large-delay system at the moment k; tau is the lag time of the nonlinear large-delay system and can be measured by an identification method; l is the control input linearization length; wherein y (k) satisfies:
y(k+1)＝f(y(k),…,y(k-ny),u(k-τ),…,u(k-τ-nu)) (9)
wherein n isy、nuIs the system order; l isy、LuThe pseudo order of the nonlinear large-delay system is an integer and is equal to or more than 0 and equal to Ly≤ny，1≤Lu≤nuη is the step factor, η∈ (0, 2)]η is added to allow greater flexibility in control algorithm design, mu>0, is a first weighting factor; is a sufficiently small positive number; rhoi∈(0,1]，i＝1,2,…,Ly+Lu，λ>0 is a second weight factor; y is*(k) A standard signal representing a uniformly bounded expected output of a nonlinear large delay system; y' (k) is the differential of the output y (k).
In the traction motor control method provided by this embodiment, a difference signal between a standard signal expected to be output and a current feedback signal is output to an IMFAC controller for processing to obtain a control signal, and the control signal is output to a controlled object to operate the controlled object; and then, an output signal generated when the controlled object runs is compensated by a lead link and then is used as a current feedback signal. The scheme only utilizes the standard signal expected to be output by the controlled object and the output signal generated when the controlled object runs to design the controller, does not depend on the dynamic model parameter of the controlled object, and has the advantages of simple debugging, easy realization, high response speed and good robustness.
Fig. 2 is a schematic structural diagram of a traction motor control device according to an embodiment of the present invention, and as shown in fig. 2, the traction motor control device includes:
an operation module 21, an IMFAC controller 22, a controlled object 23 and an advance link 24;
the output end of the operation module 21 is connected with the input end of the IMFAC controller 22, the output end of the IMFAC controller 22 is connected with the input end of the controlled object 23, the output end of the controlled object 23 is connected with the input end of the advance link 24, and the output end of the advance link 24 is connected with the input end of the operation module 21;
an operation module 21, configured to perform a difference between a standard signal expected to be output and a current feedback signal, and output a signal obtained by the difference to the IMFAC controller 22;
the IMFAC controller 22 is configured to perform calculation processing on a signal obtained by performing the difference calculation, and output a control signal obtained after the calculation processing to the controlled object 23, so that the controlled object 23 operates under the driving of the control signal;
the controlled object 23 is used for outputting an output signal generated when the controlled object 23 operates to the leading link 24 for compensation;
and the lead link 24 is configured to compensate the signal output by the controlled object 23, and output the compensated signal to the operation module 21 as a current feedback signal, so that the operation module 21 performs a difference between the standard signal and the current feedback signal.
Specifically, the controlled object 23 may be a nonlinear large-delay object, and the transfer function of the controlled object 23 is Gp(s)e-τsWhere τ is the lag time of the nonlinear large latency object. The controlled object 23 may be, for example, a traction motor.
The traction motor control device provided by this embodiment outputs a difference signal between a standard signal expected to be output and a current feedback signal to the IMFAC controller for processing to obtain a control signal, and outputs the control signal to a controlled object to operate the controlled object; and then, an output signal generated when the controlled object runs is compensated by a lead link and then is used as a current feedback signal. The scheme only utilizes the standard signal expected to be output by the controlled object and the output signal generated when the controlled object runs to design the controller, does not depend on the dynamic model parameter of the controlled object, and has the advantages of simple debugging, easy realization, high response speed and good robustness.
Fig. 3 is a schematic circuit diagram of a traction motor control device according to an embodiment of the present invention, and according to the device in the embodiment corresponding to fig. 2, as shown in fig. 3, an operation module outputs a standard signal y to a desired output*And the current feedback signal x, to obtain a first output signal deltay,outputting the first output signal to an IMFAC controller for calculation processing; outputting a control signal u (k) obtained after the processing of the IMFAC controller to a controlled object so that the controlled object operates under the driving of the control signal u (k); outputting an output signal y (k) generated when the controlled object operates to an advance link for compensation, and feeding back the compensated signal to the operation module as a current feedback signal x so that the operation module can perform standard signal y*And the current feedback signal x is subjected to difference calculation, and a current first output signal delta y is output to realize the circulation and feedback of the signal.
The traction motor control device provided by this embodiment obtains an input signal of a controlled object by introducing a difference between a standard signal expected to be output and an output signal of the controlled object after the lead link compensation in the IMFAC controller and performing calculation processing, does not depend on a dynamic model parameter of the controlled object, and is simple to debug, easy to implement, fast in response speed and good in robustness.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working process of the apparatus described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. A traction motor control method, comprising:
performing difference calculation on the standard signal expected to be output and the current feedback signal, and outputting a signal obtained by difference calculation to an improved model-free self-adaptive IMFAC controller for calculation processing;
outputting a control signal obtained after the IMFAC controller processes to a controlled object so that the controlled object operates under the driving of the control signal;
and outputting an output signal generated when the controlled object runs to an advance link for compensation, taking the compensated signal as a current feedback signal, and returning to the step of performing the difference calculation on the standard signal expected to be output and the current feedback signal.
2. The method of claim 1, wherein the controlled object is a nonlinear large-delay object, and the transfer function of the controlled object is Gp(s)e-τsWhere τ is the lag time of the nonlinear large latency object.
3. The method of claim 1, wherein the controlled object is a traction motor.
4. A traction motor control apparatus, comprising: the system comprises an operation module, an IMFAC controller, a controlled object and an advance link;
the output end of the operation module is connected with the input end of the IMFAC controller, the output end of the IMFAC controller is connected with the input end of the controlled object, the output end of the controlled object is connected with the input end of the advance link, and the output end of the advance link is connected with the input end of the operation module;
the operation module is used for carrying out difference calculation on the standard signal expected to be output and the current feedback signal and outputting a signal obtained by difference calculation to the IMFAC controller;
the IMFAC controller is used for calculating a signal obtained by calculating the difference and outputting a control signal obtained after calculation to the controlled object so as to enable the controlled object to operate under the driving of the control signal;
the controlled object is used for outputting an output signal generated when the controlled object operates to the leading link for compensation;
and the leading link is used for compensating the signal output by the controlled object, outputting the compensated signal to the operation module as a current feedback signal, and enabling the operation module to perform difference calculation on the standard signal and the current feedback signal.
5. The apparatus of claim 4, wherein the controlled object is a non-linear large-delay object, and the transfer function of the controlled object is Gp(s)e-τsWhere τ is the lag time of the nonlinear large latency object.
6. The apparatus of claim 4, wherein the controlled object is a traction motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710295466.2A CN107168048B (en) | 2017-04-28 | 2017-04-28 | Traction motor control method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710295466.2A CN107168048B (en) | 2017-04-28 | 2017-04-28 | Traction motor control method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107168048A true CN107168048A (en) | 2017-09-15 |
| CN107168048B CN107168048B (en) | 2020-11-06 |
Family
ID=59812442
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710295466.2A Active CN107168048B (en) | 2017-04-28 | 2017-04-28 | Traction motor control method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107168048B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110456686A (en) * | 2019-07-18 | 2019-11-15 | 株洲长河电力机车科技有限公司 | A kind of fully loaded traction starting control method of the manned tramcar of special type |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6684115B1 (en) * | 2000-04-11 | 2004-01-27 | George Shu-Xing Cheng | Model-free adaptive control of quality variables |
| CN101957598A (en) * | 2010-09-26 | 2011-01-26 | 上海电力学院 | Gray model-free control method for large time lag system |
| CN104836504A (en) * | 2015-05-15 | 2015-08-12 | 合肥工业大学 | Adaptive fault tolerant control method with salient pole permanent magnet synchronous motor precise torque output |
| CN105955206A (en) * | 2016-05-26 | 2016-09-21 | 东华大学 | Multi-shaft motion control method based on data driving and parameter mixing optimization |
-
2017
- 2017-04-28 CN CN201710295466.2A patent/CN107168048B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6684115B1 (en) * | 2000-04-11 | 2004-01-27 | George Shu-Xing Cheng | Model-free adaptive control of quality variables |
| CN101957598A (en) * | 2010-09-26 | 2011-01-26 | 上海电力学院 | Gray model-free control method for large time lag system |
| CN104836504A (en) * | 2015-05-15 | 2015-08-12 | 合肥工业大学 | Adaptive fault tolerant control method with salient pole permanent magnet synchronous motor precise torque output |
| CN105955206A (en) * | 2016-05-26 | 2016-09-21 | 东华大学 | Multi-shaft motion control method based on data driving and parameter mixing optimization |
Non-Patent Citations (2)
| Title |
|---|
| 候忠生 等: "《无模型自适应控制-理论与应用》", 30 June 2013, 科学出版社 * |
| 金尚泰: "无模型学习自适应控制的若干问题研究及其应用", 《中国博士学位论文全文数据库》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110456686A (en) * | 2019-07-18 | 2019-11-15 | 株洲长河电力机车科技有限公司 | A kind of fully loaded traction starting control method of the manned tramcar of special type |
| CN110456686B (en) * | 2019-07-18 | 2020-11-17 | 株洲长河电力机车科技有限公司 | Full-load traction starting control method for special manned tramcar |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107168048B (en) | 2020-11-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6774637B2 (en) | Control device and control method | |
| US20130054500A1 (en) | Robust controller for nonlinear mimo systems | |
| JP6166515B2 (en) | Electric machine control | |
| CN108489015B (en) | Air conditioning system temperature control method based on pole allocation and Pade approximation | |
| EP3076261A1 (en) | Machinery control device and gain determination method for friction compensation | |
| CN105359406A (en) | Control device for motor | |
| CN103501150B (en) | Embedded permanent magnet synchronous motor parameter identification device and method | |
| CN107168048B (en) | Traction motor control method and device | |
| CN106802569A (en) | A kind of self adaptation state feedback control method for compensating executing agency's dead-time voltage | |
| CN103149843B (en) | A kind of ultrasonic motor model Model Reference Adaptive Control system based on MIT | |
| CN108170032A (en) | A kind of method for improving piezo-stack type driver positioning accuracy | |
| CN116025581A (en) | Fan regulation and control method and device, electronic equipment and storage medium | |
| CN114609917A (en) | Servo driver and servo system based on digital twin technology | |
| CN115917444A (en) | Control support device, control device, and control support method | |
| CN110932609B (en) | Self-adaptive recursion control method and system for multi-motor servo system | |
| CN109150005B (en) | Ultrasonic motor rotating speed control method and device based on iterative learning | |
| Akil et al. | Nonlinear control of the web winding system by adaptive backstepping | |
| CN103219914B (en) | Ultrasonic motor model reference self-adaption control system based on Lyapunov | |
| CN117040339B (en) | Vector decoupling method, device and equipment for permanent magnet synchronous motor and storage medium | |
| CN213185939U (en) | Linear motor control system | |
| CN109814371A (en) | Networking servo electrical machinery system Active Fault-tolerant Control Method based on Laplace transformation | |
| CN116599401B (en) | Permanent magnet synchronous motor speed regulation control method based on self-adaptive sliding mode approach law | |
| CN116610026B (en) | High-steady-state digital alternating current compensation anti-interference voltage stabilization method and system | |
| CN107623473B (en) | Position prediction control method for permanent magnet synchronous servo system | |
| عبدالكريم حدود et al. | The Application of An Intelligent Adaptive Controller for Permanent Magnet Synchronous Motor Drive Using Neural Network |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Yang Tianqi Inventor after: Lu Zhenshan Inventor after: Lv Yanwen Inventor before: Yang Tianqi Inventor before: Lu Zhenshan |
|
| CB03 | Change of inventor or designer information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |