基于连续时间模型预测控制的PMSM转速控制

Speed Control of PMSM Based on Predictive Control of Continuous-Time Model

摘要

针对永磁同步电机在高动态运行和外部负载扰动条件下转速控制性能下降与鲁棒性不足的问题, 提出一种结合Laguerre函数参数化建模与非线性扰动观测补偿机制的连续时间模型预测控制方法。该方法采用Laguerre正交函数对控制增量进行有限维参数化, 以降低优化维度并提升求解效率; 同时设计自适应平滑因子, 实现控制响应速度与输入平滑性间的动态平衡。为提高控制系统的工程适用性, 构建连续可微的软约束机制, 以避免硬约束引发的数值不稳定问题。仿真结果表明, 在相同控制条件下, 所提方法在转速跟踪精度和抗扰动性能方面优于传统模型预测控制方法。

Abstract

To address the degradation of performance in speed control and insufficient robustness of permanent magnet synchronous motors under high dynamic operation and external load disturbances, a continuous-time model predictive control method that integrates Laguerre function-based parameterization with a nonlinear disturbance observer compensation mechanism is proposed. The method employs finite-dimensional parameterization of the control increment using Laguerre orthogonal functions to significantly reduce the optimization dimension and improve computational efficiency. An adaptive smoothing factor is designed to achieve a dynamic balance between control response speed and input smoothness. To enhance the engineering applicability of the control system, a continuously differentiable soft constraint mechanism is introduced to avoid numerical instability caused by hard constraints. Simulation results verify that the proposed method exhibits superior speed tracking accuracy and disturbance rejection performance compared to conventional model predictive control under the same conditions.

关键词

永磁同步电机 / 连续时间模型预测控制 / 非线性扰动观测器 / Laguerre函数 / 参数化

Key words

permanent magnet synchronous motor / continuous-time model predictive control / nonlinear disturbance observer / Laguerre function / parameterization

参考文献

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基金资助

黑龙江省重点研发基金资助项目(ZDYF2024GXJS007)

黑龙江省属高校专项基金资助项目(2022TSTD-04)