CN107168048B - Traction motor control method and device - Google Patents

Traction motor control method and device Download PDF

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CN107168048B
CN107168048B CN201710295466.2A CN201710295466A CN107168048B CN 107168048 B CN107168048 B CN 107168048B CN 201710295466 A CN201710295466 A CN 201710295466A CN 107168048 B CN107168048 B CN 107168048B
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杨天奇
鲁振山
吕雁文
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CRRC Dalian R&D Co Ltd
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    • 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
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Abstract

The invention provides a traction motor control method and a traction motor control device, wherein the method comprises the following steps: 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. The scheme only utilizes real-time measurement data of the controlled object to design the controller, does not depend on the dynamic model parameters of the controlled object, and has the advantages of simple debugging, easy realization and good robustness.

Description

Traction motor control method and device
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.
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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:
Figure BDA0001282966530000041
Figure BDA0001282966530000042
if it is not
Figure BDA0001282966530000043
One of the following three conditions is satisfied,
Figure BDA0001282966530000044
Figure BDA0001282966530000045
Figure BDA0001282966530000046
then:
Figure BDA0001282966530000047
wherein the content of the first and second substances,
Figure BDA0001282966530000048
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:
Figure BDA0001282966530000049
Figure BDA00012829665300000410
Figure BDA00012829665300000411
wherein u (k) e 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≤nu(ii) a Eta is a step-size factor, eta is an element of (0, 2)]The eta is added to enable the control algorithm design to have greater flexibility; mu.s>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*The current feedback signal x is subtracted to obtain a first output signal delta y, and the first output signal is output 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;
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 of the standard signal expected to be output and the current feedback signal;
the calculation processing of the IMFAC controller is realized by the following formula:
Figure FDA0002319148710000011
Figure FDA0002319148710000012
if it is not
Figure FDA0002319148710000013
One of the following three conditions is satisfied,
Figure FDA0002319148710000014
Figure FDA0002319148710000015
Figure FDA0002319148710000016
then:
Figure FDA0002319148710000017
wherein the content of the first and second substances,
Figure FDA0002319148710000018
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:
Figure FDA0002319148710000019
Figure FDA0002319148710000021
Figure FDA0002319148710000022
wherein u (k) e 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≤nu(ii) a Eta is a step-size factor, eta is an element of (0, 2)]The eta is added to enable the control algorithm design to have greater flexibility; mu.s>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).
2. The method of claim 1The 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;
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;
the calculation processing of the IMFAC controller is realized by the following formula:
Figure FDA0002319148710000031
Figure FDA0002319148710000032
if it is not
Figure FDA0002319148710000033
One of the following three conditions is satisfied,
Figure FDA0002319148710000034
Figure FDA0002319148710000035
Figure FDA0002319148710000036
then:
Figure FDA0002319148710000037
wherein the content of the first and second substances,
Figure FDA0002319148710000038
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:
Figure FDA0002319148710000039
Figure FDA00023191487100000310
Figure FDA00023191487100000311
wherein u (k) e RL、y(k)∈RLRespectively represent kInput and output of a non-linear large delay system are carved; 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≤nu(ii) a Eta is a step-size factor, eta is an element of (0, 2)]The eta is added to enable the control algorithm design to have greater flexibility; mu.s>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).
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.
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