电力机车PMSM自适应模糊滑模控制

摘要

为研究牵引工况下电力机车永磁同步电机(PMSM)的转速控制精度,考虑轮轨接触不平顺及车体静载荷在轮对径向产生的未知时变负载转矩,建立了机车PMSM在d-q坐标系下的数学模型.针对该耦合非线性系统中存在的负载转矩,设计非线性转矩观测器对其实际值进行估计,对观测误差采用自适应模糊逻辑系统进行逼近;为考察d轴电压过零跳变对转速控制及转矩观测性能的影响,在d轴电压控制器设计中引入Nussbaum函数,并依据Lyapunov稳定性理论,构造了基于转矩观测器的自适应模糊滑模控制器.理论分析及仿真结果表明,当转矩时变或d轴电压过零时,机车PMSM闭环转速控制系统跟踪误差一致有界,转矩观测误差收敛于0.%For the study of speed control precision of permanent magnet synchronous motor (PMSM) on electric locomotives during traction,a mathematical model of PMSM was established in the d-q coordinate system after considering unknown radially time-varying load torque of wheelset generated by wheel rail contact irregularity and static weight of locomotive body.Nonlinear torque observer (NTO) was designed to estimate the actual value of the time-varying torque with the observation error approached by adaptive fuzzy logic system.According to the Lyapunov stability theory,adaptive fuzzy sliding mode controller with NTO was constructed after the introduction of Nussbaum function in voltage controller of d axis for the investigation of influence of zero crossing of d axis voltage on speed control and torque observation.Theoretical analyses and simulation results demonstrate that the PMSM speed control system on electric locomotives has closed loop bounded error output against zero crossing of d axis voltage and unknown time-varying torque on the railway whose observation error is constricted to 0.