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A new methodology for the design and tuning of robust PID controllers in electric drives.

機(jī)譯：用于設(shè)計(jì)和調(diào)試電驅(qū)動(dòng)器中魯棒PID控制器的新方法。

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摘要

AC induction motor-drive systems are the backbone for numerous industrial applications, such as aerospace, medical equipment, and nuclear power plants. The control performance of electric drives is sensitive to several uncontrollable disturbances from changes in ambient conditions in the form of machine parameter variations such as: magnetizing inductance (Lm), and rotor resistance (Rr). Such variations may trigger instability because of mismatch between the reference and desired conditions. The most common techniques to solve the issue are: (a) gain adaptation that requires instrumentation to monitor system, (b) nonlinear control methods, such as sliding mode, feedback linearization, and (c) robust control method, such as H infinity, and mu-analysis to account for motor uncertainties. Despite the prevalence of PID controllers, a systematic method to tune their parameters to ensure robustness remains an open problem.;In this dissertation, a systematic method to tune PI controllers while factoring uncertainties is developed. Two major design methods are proposed: (a) based on Kharitonov's theorem and (b) based on fractional order controllers. In (a), the control design problem for AC drives can be cast into as a set of interval polynomials that can be analyzed via Kharitonov's theorem. Also proposed a method to solve the resulting polynomials, which then yield the controller coefficients. In (b), we show how fractional order controllers (FrOC)-a generalization of PID that consider fractional values for the integral and derivative coefficients can be designed to achieve our main objectives. A unique advantage of such controllers is the so-called iso-damping property (constant phase) and robustness. The performance of controllers is assessed by comparing them with two well established techniques: traditional method based on gain/phase margin requirements, and symmetric optimum techniques - an industrially popular technique that requires constant gain over a desired bandwidth. While both these techniques use reduced order models, the proposed methods are advantageous because they can handle the full model of the machine. The simulation results suggest that the proposed controllers remain robust against the chosen uncertainties while both traditionally designed controllers succumb to instability. The work paves a novel way for the design and tuning of robust PID controllers in electric drives.
機(jī)譯：交流感應(yīng)電動(dòng)機(jī)驅(qū)動(dòng)系統(tǒng)是眾多工業(yè)應(yīng)用（如航空航天，醫(yī)療設(shè)備和核電站）的基礎(chǔ)。電驅(qū)動(dòng)器的控制性能對(duì)周圍環(huán)境條件變化的幾種不可控制的干擾非常敏感，這些干擾以機(jī)器參數(shù)變化的形式出現(xiàn)，例如：勵(lì)磁電感（Lm）和轉(zhuǎn)子電阻（Rr）。由于參考條件和期望條件之間的不匹配，此類變化可能觸發(fā)不穩(wěn)定性。解決此問題的最常用技術(shù)是：（a）需要儀表來監(jiān)視系統(tǒng)的增益自適應(yīng)；（b）非線性控制方法，例如滑模，反饋線性化；以及（c）魯棒控制方法，例如H infinity，和mu分析來說明運(yùn)動(dòng)不確定性。盡管存在PID控制器的普遍性，但為確保魯棒性而對(duì)其參數(shù)進(jìn)行調(diào)節(jié)的系統(tǒng)方法仍然是一個(gè)懸而未決的問題。本論文開發(fā)了一種在考慮不確定因素的情況下對(duì)PI控制器進(jìn)行調(diào)節(jié)的系統(tǒng)方法。提出了兩種主要的設(shè)計(jì)方法：（a）基于Kharitonov定理和（b）基于分?jǐn)?shù)階控制器。在（a）中，可以將交流變頻器的控制設(shè)計(jì)問題轉(zhuǎn)化為一組區(qū)間多項(xiàng)式，可以通過Kharitonov定理進(jìn)行分析。還提出了一種求解所得多項(xiàng)式的方法，然后可以得出控制器系數(shù)。在（b）中，我們展示了如何設(shè)計(jì)分?jǐn)?shù)階控制器（FrOC），即考慮積分系數(shù)和微分系數(shù)的分?jǐn)?shù)值的PID泛化，以實(shí)現(xiàn)我們的主要目標(biāo)。這種控制器的獨(dú)特優(yōu)勢(shì)是所謂的等阻尼特性（恒定相位）和魯棒性。控制器的性能是通過將其與兩種完善的技術(shù)進(jìn)行比較來評(píng)估的：基于增益/相位裕量要求的傳統(tǒng)方法和對(duì)稱最優(yōu)技術(shù)-一種工業(yè)流行的技術(shù)，要求在所需帶寬上保持恒定增益。雖然這兩種技術(shù)都使用降階模型，但是所提出的方法是有利的，因?yàn)樗鼈兛梢蕴幚頇C(jī)器的完整模型。仿真結(jié)果表明，所提出的控制器在選擇的不確定性條件下仍保持魯棒性，而兩個(gè)傳統(tǒng)設(shè)計(jì)的控制器均會(huì)陷入不穩(wěn)定性。這項(xiàng)工作為電驅(qū)動(dòng)器中魯棒PID控制器的設(shè)計(jì)和調(diào)試鋪平了道路。

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  • 作者

    Mehmood, Chaudhry Arshad.;

  • 作者單位

    North Dakota State University.;

  • 授予單位 North Dakota State University.;
  • 學(xué)科 Engineering Electronics and Electrical.
  • 學(xué)位 Ph.D.
  • 年度 2014
  • 頁碼 181 p.
  • 總頁數(shù) 181
  • 原文格式 PDF
  • 正文語種 eng
  • 中圖分類
  • 關(guān)鍵詞

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