CN114244238B - Synchronous fault-tolerant control method for rotating speed of double-servo motor system - Google Patents

Synchronous fault-tolerant control method for rotating speed of double-servo motor system Download PDF

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CN114244238B
CN114244238B CN202111562561.7A CN202111562561A CN114244238B CN 114244238 B CN114244238 B CN 114244238B CN 202111562561 A CN202111562561 A CN 202111562561A CN 114244238 B CN114244238 B CN 114244238B
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motor
controller
integral
synchronous
fault
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CN114244238A (en
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陶栩
赖悟性
吴涛
雍彬波
黄伟
马刚星
王冲
殷晓露
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Sichuan Sanlian New Material Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P23/0009—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/12—Observer control, e.g. using Luenberger observers or Kalman filters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/34—Modelling or simulation for control purposes
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
    • H02P2207/055—Surface mounted magnet motors

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Multiple Motors (AREA)

Abstract

The invention discloses a synchronous fault-tolerant control method for rotating speeds of a double-servo motor system, which comprises the following steps: establishing an ideal mathematical model of a single motor, and simultaneously considering faults caused by motor temperature, an environmental magnetic field and motor load change as an integral additional item to obtain a single motor fault mathematical model; designing a single motor controller: the speed control loop adopts a fractional order integral sliding mode controller; the current control loop adopts a proportional-integral controller; designing a fault observer; designing a dual-motor fractional order sliding mode speed synchronous controller; the invention improves the speed synchronization performance of the double-motor system.

Description

Synchronous fault-tolerant control method for rotating speed of double-servo motor system
Technical Field
The invention relates to the technical field of servo motors, in particular to a synchronous fault-tolerant control method for rotating speeds of a double-servo motor system.
Background
With the increasing demand for power, it is difficult for a single motor to meet the performance requirements, and dual motor drive systems have become a hot spot of research in recent years. Compared with single motor drive, double motor drive has better space utilization and higher energy efficiency, and can meet a plurality of industrial occasions with high power requirements. In a dual motor drive system, although the design of the two motors will use the same parameters, motor failure due to external load variations and disturbances, inconsistent speeds of the two motors can negatively impact production and drive. The larger the synchronization error, the more problems are caused. Therefore, the method has important significance for improving the synchronous precision of the double motors in the case of external disturbance and load change or motor failure. For decades, a great deal of literature has explored control schemes for single permanent magnet synchronous motors, and existing control methods can be mainly divided into two types, namely traditional linear control methods such as PID control (Proportion Integration Differentiation Control). The traditional PID controller is widely applied to a speed regulation control system of a three-phase permanent magnet, and the method has the advantages of simplicity, convenience in parameter setting, no need of depending on a system model and the like. However, the permanent magnet synchronous motor is a nonlinear, strongly coupled and multivariable system, and when the control system is affected by external disturbance or change of parameters inside the motor, the conventional proportional-integral control method cannot meet the practical requirements.
And nonlinear Control methods such as Robust Control (Robust Control), adaptive Control (Self-adaptive Control), backstepping Control (Back Stepping Control), neural network Control (Neural Networks Control), fuzzy Control (Fuzzy Control) and sliding mode Control (Sliding Mode Control). Among these nonlinear control methods, the sliding mode control method is known for its robustness to some internal parameter variations and external disturbances, and can ensure a better tracking performance even in the case of uncertain system parameters or models, and has been widely used for speed control of permanent magnet synchronous motors. The traditional sliding mode control is insensitive to external interference and disturbance, has certain robustness, but is easy to cause buffeting. Aiming at the problems of the traditional sliding mode control, in order to improve the performance of the traditional sliding mode control in the aspects of tracking and disturbance rejection characteristics and reduce buffeting, a plurality of methods are proposed, including sliding mode surface improvement, approach law improvement, high-order sliding mode control, composite sliding mode control design and the like.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to provide a synchronous fault-tolerant control method for the rotating speed of a double-servo motor system, which realizes synchronous control over the rotating speed of the double-servo motor system, considers the strong robustness of sliding mode variable structure control, improves traditional sliding mode variable structure control by introducing Fractional Order Sliding Mode Control (FOSMC), designs a single-motor fault-tolerant control scheme based on fractional order integral sliding mode and a nonlinear disturbance observer, and designs an additional speed synchronous controller based on a cross coupling strategy on the basis, thereby improving the speed synchronous performance of the double-motor system.
In order to achieve the above purpose, the invention adopts the following technical scheme: a synchronous fault-tolerant control method for the rotating speed of a double-servo motor system comprises the following steps:
Step 1, establishing an ideal mathematical model of a single motor, and simultaneously considering faults caused by motor temperature, an environmental magnetic field and motor load change as an integral additional item to obtain a single motor fault mathematical model;
step 2, designing a single motor controller: the speed control loop adopts a fractional order integral sliding mode controller; the current control loop adopts a proportional-integral controller;
step 3, designing a fault observer;
And 4, designing a dual-motor fractional order sliding mode speed synchronous controller.
As a preferred embodiment, step 1 is specifically as follows:
taking the surface-mounted permanent magnet synchronous motor as a control object, selecting a mathematical model under a synchronous rotation coordinate system d-q, and obtaining an ideal mathematical model of the permanent magnet synchronous motor under ideal conditions as follows:
Wherein n p is pole pair number, ψ is permanent magnet flux linkage, u d、uq and i d、iq are voltage and current on d axis and q axis respectively, L s is inductance, J is moment of inertia, b m is damping coefficient, T L is load torque, R is stator resistance, ω is mechanical angular velocity of motor;
The faults caused by the temperature, the environment magnetic field and the motor load change of the motor are considered as an integral additional term, so that a single motor fault mathematical model is obtained:
where F ω is a fault or uncertainty term, its expression is:
Where Δρ i (i=1, 2) is the uncertainty change term.
As another preferred embodiment, the design method of the fractional order integral sliding mode controller in the step 2 is specifically as follows:
Assuming that the desired mechanical angular speed of the motor is ω *, taking the state variables of the individual motor control systems as:
xi1＝ω*-ωi
where i=1, 2, ω i is the mechanical angular velocity of motor i, sgn (·) is the sign function, The specific calculation method for fractional integration is as follows:
wherein gamma (τ) is a gamma function, τ > 0; the state equation of the available system is:
the fractional order whole integral sliding mode surface of the tracking controller is selected as follows:
si＝xi1+cixi2+hi(t)
Wherein the method comprises the steps of M i＝-xi1(0)-cixi2(0),ni determines/>Is a convergence speed of (2); x i1 (0) is an error initial value, and x i2 (0) is a fractional integral value at time t=0; s i derives about time, and can be obtained:
Wherein, In order to meet the sliding mode condition, the following approach rate is designed, and the expression is as follows:
The design speed loop controller is as follows:
Wherein, Is an estimated value of F ωi.
As another preferred embodiment, the design method of the proportional-integral controller in the step 2 is specifically as follows:
defining a control error as:
wherein the d-axis desired current is 0 and the q-axis desired current is the output of the speed loop controller ; The proportional-integral controller is designed as follows:
[uid uiq]T＝Kpei+Ki∫eidt
Where K P and K i are the proportional and integral term gains, respectively.
As another preferred embodiment, the fault observer design method in step 3 is specifically as follows:
Wherein, uωi＝iqi，/>For the observation of F ωi, z ωi is an intermediate variable; l ωi, p(ωi) are observer gain and undetermined function, respectively, and both satisfy/>P (ω) is a nonlinear function:
as another preferred embodiment, the design method of the dual-motor fractional order sliding mode speed synchronous controller is specifically as follows:
the state variables of the rotating speed synchronous control system are as follows:
x3＝ω1-ω2
x4＝Iu(|x3|εsgn(x3))
The state equation of the system is:
x4＝Iu-1(|x3|εsgn(x3))＝Iu-1(|ω1-ω2|εsgn(ω1-ω2))
The fractional order integral slip plane s s is selected as:
ss＝x3+csx4+hs(t)
Wherein the method comprises the steps of M i＝-x3(0)-csx4(0),x3 (0) is an error initial value, x 4 (0) is a fractional integral value at the time t=0;
Assuming that the physical parameters of the two motors are the same, the output of the fractional order sliding mode speed synchronous controller is:
Wherein,
As another preferred embodiment, the method further comprises the steps of:
and 5, carrying out numerical simulation on the permanent magnet synchronous motor driving system by using Matlab/Simulink.
The beneficial effects of the invention are as follows:
according to the invention, the traditional sliding mode control is improved, and the motor rotating speed synchronous controller is designed by using a fractional order sliding mode control and cross coupling method, so that the control effect is improved, and the speed synchronous performance of a double-motor system is improved.
Drawings
FIG. 1 is a block diagram of a single motor control system according to an embodiment of the present invention;
FIG. 2 is a block diagram of a dual motor synchronous control in accordance with an embodiment of the present invention;
FIG. 3 illustrates the control effect of motor speed using different control methods according to the embodiment of the present invention;
FIG. 4 shows q-axis current under fractional order sliding mode control in accordance with an embodiment of the present invention;
FIG. 5 illustrates electromagnetic torque output under different control methods according to an embodiment of the present invention;
FIG. 6 illustrates the observation effect of different observers on faults under normal conditions according to the embodiment of the present invention;
FIG. 7 is a diagram showing a method for controlling the rotational speed of a motor by different control methods after injection of a bias fault according to an embodiment of the present invention;
FIG. 8 is a graph of q-axis current after injection of a bias fault in accordance with an embodiment of the present invention;
FIG. 9 illustrates electromagnetic torque output for various control methods after injection of a bias fault in accordance with an embodiment of the present invention;
FIG. 10 illustrates the observation of faults by different observers after injection of a bias fault in accordance with an embodiment of the present invention;
FIG. 11 illustrates the control effect of different control methods on motor speed under time-varying faults according to an embodiment of the present invention;
FIG. 12 is a q-axis current under time-varying faults according to an embodiment of the present invention;
FIG. 13 illustrates electromagnetic torque output for different control methods under time-varying faults in accordance with an embodiment of the present invention;
FIG. 14 is a graph showing the effect of different observers on time-varying faults according to an embodiment of the present invention;
FIG. 15 is a diagram showing the synchronization error of two motors according to different control methods according to the embodiment of the present invention;
Fig. 16 illustrates the synchronous control effect of different control methods according to the embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Examples
A synchronous fault-tolerant control method for rotating speed of a double-servo motor system comprises the following steps:
S1, a single motor ideal mathematical model is established, and meanwhile faults caused by motor temperature, an environmental magnetic field and motor load change are considered as an integral additional item, so that a single motor fault mathematical model is obtained;
S2, designing a single motor controller. The speed control loop adopts a fractional order integral sliding mode controller; the current control loop adopts a classical proportional integral controller (PI);
S3, designing a fault (interference) observer;
s4, designing a double-motor rotating speed synchronous controller;
s5, carrying out numerical simulation on the permanent magnet synchronous motor driving system under four different conditions by using MATLAB/Simulink.
Table 1 shows parameters of a permanent magnet synchronous motor according to an embodiment of the present invention; table 2 shows parameters of each controller and observer according to the embodiment of the present invention;
In this embodiment, parameters of the permanent magnet motor are shown in table 1:
TABLE 1 permanent magnet synchronous motor parameters
After an ideal mathematical model of a single motor is established, uncertainty or faults are considered as integral additional items, and a single motor fault mathematical model is obtained; next, the controller of the single motor is designed first, the control system structure diagram is shown in fig. 1, the speed synchronous controller of the double motor is designed again, and the synchronous control block diagram of the double motor is shown in fig. 2.
And (3) for verifying the design effectiveness of the controller, carrying out numerical simulation on the permanent magnet synchronous motor driving system by using Matlab/Simulink. The parameters of the fractional order sliding mode speed controller, the PI current controller and the fault observer are shown in table 2:
TABLE 2 parameters of each Module
The simulation is mainly divided into four parts, namely: controller validity verification for single motor operation under normal conditions, see fig. 3-6. And II, verifying the effectiveness of the motor affected by the offset faults, see fig. 7-10. And III, verifying the effectiveness of the motor affected by time-varying faults, and referring to fig. 11-14. IV. Speed synchronization verification of double motors when single motor fails, see FIG. 15 and FIG. 16.
In the practical application process, the method of the embodiment specifically comprises the following steps of:
And 1, establishing an ideal mathematical model of the single motor, and simultaneously considering faults caused by motor temperature, an environmental magnetic field and motor load change as an integral additional term to obtain the mathematical model of the single motor fault.
And selecting a mathematical model under a synchronous rotation coordinate system d-q by taking the surface-mounted permanent magnet synchronous motor as a control object. In an ideal case, an ideal mathematical model of the permanent magnet synchronous motor can be obtained as follows:
Wherein n p is pole pair number, ψ is permanent magnet flux linkage, u d,uq and i d,iq are voltage and current on d axis and q axis respectively, L s is inductance, J is moment of inertia kg·m 2,bm is damping coefficient (nm·s/rad), T L is load torque, R is stator resistance, ω is motor mechanical angular velocity.
Uncertainty caused by motor temperature, environmental magnetic field and the like is considered as an integral additional item, so that a motor model can be rewritten as:
where F ω is a fault or uncertainty term, its expression is:
Where Δρ i (i=1, 2) is the uncertainty change term.
And 2, designing a single motor controller. The speed control loop adopts a fractional order integral sliding mode controller; the current control loop uses a classical proportional-integral controller (PI).
First, a fractional order sliding mode controller required by a speed control loop is designed: assuming that the desired mechanical angular speed of the motor is ω *, taking the state variables of the individual motor control systems as:
xi1＝ω*-ωi
where i=1, 2, ω i is the mechanical angular velocity of motor i, sgn (·) is the sign function, The specific calculation method for fractional integration is as follows:
Where γ (τ) is a gamma function, τ > 0. The state equation of the available system is:
the fractional order whole integral sliding mode surface of the tracking controller is selected as follows:
si＝xi1+cixi2+hi(t) (7)
Wherein the method comprises the steps of M i＝-xi1(0)-cixi2(0),ni determines/>Is a convergence speed of (a). x i1 (0) is an error initial value, and x i2 (0) is a fractional integral value at time t=0. s i derives about time, and can be obtained:
Wherein, In order to meet the sliding mode condition, the following approach rate is designed, and the expression is as follows:
The design speed loop controller is as follows:
Wherein, Is an estimated value of F ωi.
Further, in step 2, the proportional-integral controller required for the current control loop is designed next: defining a control error as:
wherein the d-axis desired current is 0 and the q-axis desired current is the output of the speed loop controller . The PI controller is designed to:
[uid uiq]T＝Kpei+Ki∫eidt (12)
Where K P and K i are the proportional and integral term gains, respectively.
And 3, designing a fault (interference) observer. The observer is designed as follows:
Wherein, uωi＝iqi，/>For the observation of F ωi, z ωi is an intermediate variable;
notably, L ωi,p(ωi) are observer gain and undetermined function, respectively, and both satisfy
The present embodiment designs p (ω) as a nonlinear function:
p(ω)＝mi1ω+mi2ω3
Lω＝mi1+mi2ω2 (14)
and step four, designing a double-motor rotating speed synchronous controller. The design of the double-motor rotating speed synchronous controller takes the state variables of a rotating speed synchronous control system as follows:
x3＝ω1-ω2
x4＝Iu(|x3|εsgn(x3)) (15)
The state equation of the system is:
x4＝Iu-1(|x3|εsgn(x3))＝Iu-1(|ω1-ω2|εsgn(ω1-ω2)) (16)
the fractional order integral slip plane s s is selected as:
ss＝x3+csx4+hs(t) (17)
Wherein the method comprises the steps of M i＝-x3(0)-csx4(0).x3 (0) is an error initial value, and x 4 (0) is a fractional integral value at time t=0. Assuming that the physical parameters of the two motors are the same, the output of the fractional order sliding mode speed synchronous controller is:
Wherein,
And 5, carrying out numerical simulation on the permanent magnet synchronous motor driving system under four different conditions by using Matlab/Simulink. The simulation results under different conditions can be seen:
under the condition that the motor normally operates, the traditional NBO observer seems to have a better observation effect, the observation value hardly fluctuates too much, and the situation that the traditional NBO observer is insensitive or duller to faults or uncertainties is reflected, so that the faults or uncertainties cannot be effectively estimated in time;
Under the condition that offset faults are artificially injected into the motor, the traditional integer-order sliding mode controller has the same observation effect as a fractional order observer used in the traditional integer-order sliding mode controller, but the fractional order sliding mode controller obviously has smaller steady-state error and higher response speed;
after more complex time-varying faults are artificially injected, the observer can effectively estimate the faults even if the faults change rapidly, and the traditional NDO observer can not estimate the faults with rapid changes;
And IV, when a single motor fails, the simulation result shows that the hybrid speed synchronous controller based on the fractional order sliding mode speed synchronous controller and the cross coupling method has faster synchronous tracking response and smaller synchronous error in the aspect of keeping the motor speed synchronous.
The foregoing examples merely illustrate specific embodiments of the invention, which are described in greater detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention.

Claims (5)

1. The synchronous fault-tolerant control method for the rotating speed of the double-servo motor system is characterized by comprising the following steps of:
Step 1, establishing an ideal mathematical model of a single motor, and simultaneously considering faults caused by motor temperature, an environmental magnetic field and motor load change as an integral additional item to obtain a single motor fault mathematical model;
step 2, designing a single motor controller: the speed control loop adopts a fractional order integral sliding mode controller; the current control loop adopts a proportional-integral controller;
step 3, designing a fault observer;
the fault observer design method in the step 3 is specifically as follows:
Wherein, uωi＝iqi，/>For the observation of F ωi, z ωi is an intermediate variable; l ωi,p(ωi) are observer gain and undetermined function, respectively, and both satisfy/>P (ω) is a nonlinear function:
step 4, designing a dual-motor fractional order sliding mode speed synchronous controller;
The design method of the dual-motor fractional order sliding mode speed synchronous controller specifically comprises the following steps:
the state variables of the rotating speed synchronous control system are as follows:
x3＝ω1-ω2
x4＝Iu(|x3|εsgn(x3))
The state equation of the system is:
x4＝Iu-1(|x3|εsgn(x3))＝Iu-1(|ω1-ω2|εsgn(ω1-ω2))
The fractional order integral slip plane s s is selected as:
ss＝x3+csx4+hs(t)
Wherein the method comprises the steps of M i＝-x3(0)-csx4(0),x3 (0) is an error initial value, x 4 (0) is a fractional integral value at the time t=0;
Assuming that the physical parameters of the two motors are the same, the output of the fractional order sliding mode speed synchronous controller is:
Wherein,
2. The method for synchronous fault-tolerant control of rotational speed of a dual servo motor system according to claim 1, wherein step 1 is specifically as follows:
taking the surface-mounted permanent magnet synchronous motor as a control object, selecting a mathematical model under a synchronous rotation coordinate system d-q, and obtaining an ideal mathematical model of the permanent magnet synchronous motor under ideal conditions as follows:
Wherein n p is pole pair number, ψ is permanent magnet flux linkage, u d、uq and i d、iq are voltage and current on d axis and q axis respectively, L s is inductance, J is moment of inertia, b m is damping coefficient, T L is load torque, R is stator resistance, ω is mechanical angular velocity of motor;
The faults caused by the temperature, the environment magnetic field and the motor load change of the motor are considered as an integral additional term, so that a single motor fault mathematical model is obtained:
where F ω is a fault or uncertainty term, its expression is:
Where Δρ i (i=1, 2) is the uncertainty change term.
3. The method for synchronous fault-tolerant control of rotating speed of double servo motor system according to claim 2, wherein the design method of the fractional order integral sliding mode controller in step2 is specifically as follows:
Assuming that the desired mechanical angular speed of the motor is ω *, taking the state variables of the individual motor control systems as:
xi1＝ω*-ωi
where i=1, 2, ω i is the mechanical angular velocity of motor i, sgn (·) is the sign function, The specific calculation method for fractional integration is as follows:
wherein gamma (τ) is a gamma function, τ > 0; the state equation of the available system is:
the fractional order whole integral sliding mode surface of the tracking controller is selected as follows:
si＝xi1+cixi2+hi(t)
Wherein the method comprises the steps of M i＝-xi1(0)-cixi2(0),ni determines/>Is a convergence speed of (2); x i1 (0) is an error initial value, and x i2 (0) is a fractional integral value at time t=0; s i derives about time, and can be obtained:
Wherein, In order to meet the sliding mode condition, the following approach rate is designed, and the expression is as follows:
The design speed loop controller is as follows:
Wherein the method comprises the steps of Is an estimated value of F ωi.
4. The method for synchronous fault-tolerant control of rotation speed of dual servo motor system according to claim 3, wherein the design method of the proportional-integral controller in step 2 is specifically as follows:
defining a control error as:
wherein the d-axis desired current is 0 and the q-axis desired current is the output of the speed loop controller The proportional-integral controller is designed as follows:
[uid uiq]T＝Kpei+Ki∫eidt
Where K P and K i are the proportional and integral term gains, respectively.
5. The dual servo motor system rotational speed synchronization fault tolerant control method according to any one of claims 1 to 4, further comprising the steps of:
and 5, carrying out numerical simulation on the permanent magnet synchronous motor driving system by using Matlab/Simulink.
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