Nonlinear controller design for switched reluctance drive systems

A nonlinear speed-loop controller for a switched reluctance motor (SRM) drive system is proposed. The details of the controller design and analysis are discussed. In addition, to extend the controllable speed range, the commutating angle of the drive system is suitably adjusted as the motor speed goes beyond base-speed. By using a 32-bit microprocessor, a fully digital drive system including a digital speed-loop controller and a digital current-loop controller is implemented here. The hardware circuit of the drive system is very simple. The system has satisfactory performance in both the pulsewidth modulated (PWM) region and the single pulse region. The adjustable speed range of the system is from 10 r/min to 3000 r/min. In addition, the proposed drive system performs well in tracking ability, load disturbance rejection capability, and robustness. Several experimental results are presented to validate the theoretic analysis.     

Design and implementation for a digital synchronous reluctancedrive

A systematic controller design for a synchronous reluctance drive system is presented. This controller consists of two parts: a forward-loop H^∞ controller to improve the transient response, and a load compensator to reduce the load disturbance. Based on a simplified model of the drive system, a control algorithm has been derived. Detailed analysis of the characteristics of the closed-loop system is presented. The effects of the parameter variations are also studied. A digital signal processor, TMS-320-C30, is used to implement the control algorithm. Both the speed control and the position control of the drive system can be implemented by using the proposed control method. Furthermore, all the control loops are executed by the digital signal processor. The system, as a result, is very flexible. The whole drive system performs well although its hardware is very simple. For speed control, the system can be operated at a speed as low as 1 r/min. For position control, the system can accurately control a one-axis table. In addition, the system also has good position tracking ability. Several experimental waveforms validate the simulated results     

Sensorless synchronous reluctance drive with standstill starting

This paper presents a novel sensorless synchronous reluctance drive system. Based on the dynamic model of the synchronous reluctance motor (SRM), a new rotor position estimator is proposed. This estimator is only related to the rate change of the stator currents. It is not related to the parameters, speed, voltage, and external load of the motor. As a result, the estimator is simple and robust. Based on the proposed estimator, a sensorless synchronous reluctance drive has been implemented. This drive system can start from standstill and accelerate to a rated speed; the traditional open-loop starting method, therefore, is unnecessary. A digital signal processor, TMS-320-C30, is used to implement the estimating and control algorithms. Experimental results show that the proposed system works well. The adjustable speed range can be from 1 r/min to 1800 r/min. Moreover, by adding the position-loop controller the proposed system can perform as a position control drive as well. Several experimental results validate the theoretical analysis.     

高超声速飞行器大包线切换LPV控制方法

高超声速飞行器飞行包线和参数变化范围大,气动参数存在较强不确定性,要求控制器能够适应大的飞行包线并具有较好的鲁棒性。针对上述问题,提出一种基于间隙度量的大包线滞后切换线性变参数(LPV)控制方法。依照时变参数将设计包线划分为若干子区域,将多胞理论和间隙度量引入控制器求解,提出了基于最优间隙度量的LPV控制方法,并利用此方法独立设计各子区域的LPV控制器,以改善控制器控制性能和鲁棒性能;利用基于重叠区域的滞后切换策略实现大包线内各子区域控制器的切换,以抑制切换面附近控制器的切换抖动,并证明了切换闭环系统的稳定性;最后以某型高超声速飞行器为对象设计了大包线滞后切换LPV控制器。仿真结果表明该方法可实现控制指令的精确跟踪,提高设计包线内LPV控制器的控制性能和鲁棒性能,并能保证切换系统的稳定性。     

卫星MEMS热控系统的动态特性及自主控制策略

在卫星热控系统中将高效冷却技术与系统层次的智能控制策略相结合是完成航天热控任务的理想候选方案。针对一种基于微机电系统(MEMS)的微槽道换热器和微百叶窗在卫星主动热控系统中应用的方案,应用集总参数法建立了受控对象的系统动态响应模型;提出了一种引入外热流协调因子和专家智能整定比例-积分-微分(PID)控制相结合的自主温度控制策略;完成了其在纳卫星上应用效果的仿真研究。仿真结果表明:自主温度控制策略能够根据当前的控制局势及变化趋势对多个被控量进行自主协调,不但能够有效满足星载电子设备的苛刻温控要求,同时也是实现卫星高度自主飞行的关键技术之一;该温度控制策略同样适用于其他控制场合。     

开关磁阻调速电动机的运行控制

 开关磁阻调速电动机（SRD）是由双凸极型磁阻电动机、功率逆变器、转子位置检测器、定子绕组电流检测器以及运行控制器等部件组成的系统。它可以看作是大步距角、带位置闭环控制的步进电机的一种发展。 SRD结构如图1（α）所示。为避免磁拉力,定、转子齿数均为偶数。在各定子齿上设有集中绕组,正对两齿上的绕组联成一相。考虑电机出力,结构合理及定子绕组供电频率等因素,一般采用定子齿数比转子齿数多2个的结构。图中是所研制的定子8齿、转子6齿的样机结构（简称为8/6结构）。图1（b）为功率逆变电路。其中C_s为直流电源,T₁～T₄为四相绕组主开关,D₁～D₄为相应的续流二极管。     

开绕组电机驱动用双逆变器死区效应补偿方法

与传统两电平逆变器的死区效应不同,开绕组电机驱动系统中双逆变器的开关死区将导致零序电压和零序电流,使绕组电流出现低频次谐波,影响系统的性能。提出了一种双逆变器开关死区导致的零序电压的补偿方案,通过扩展占空比最大的一路开关信号的导通时间,来插入一个补偿电压矢量,利用补偿电压矢量产生的零序电压抵消开关死区导致的零序电压,从而抑制系统的零序电压和零序电流。通过在开绕组感应电机驱动系统中的仿真和试验,验证了死区补偿方法的有效性。     

永磁同步电机驱动系统的反步与无源协调控制

针对永磁同步电机(PMSM)驱动系统中,只利用信号控制器或能量控制器难以兼顾良好的动态特性与较低的能量损耗,提出了基于信号与能量的协调控制策略。首先,利用反步法设计信号控制器,以加快系统的动态响应。然后,从能量的角度出发,利用无源控制中的Euler-Lagrange(EL)模型设计能量控制器,以降低系统稳态运行时的能量损耗。进一步设计协调函数,将信号控制器与能量控制器进行协调,从而构成协调控制器。另外,当负载转矩未知时,设计了负载转矩观测器用来估计负载转矩。在MATLAB/Simulink平台上对所设计的协调控制系统进行了仿真,仿真结果表明,所提出的协调控制策略能够充分结合信号控制器和能量控制器的优点,获得良好的动态和稳态性能,减小PMSM损耗。     

Ground maneuver for front-wheel drive aircraft via deep reinforcement learning

The maneuvering time on the ground accounts for 10%–30% of their flight time, and it always exceeds 50% for short-haul aircraft when the ground traffic is congested. Aircraft also contribute significantly to emissions, fuel burn, and noise when taxiing on the ground at airports. There is an urgent need to reduce aircraft taxiing time on the ground. However, it is too expensive for airports and aircraft carriers to build and maintain more runways, and it is space-limited to tow the aircraft fast using tractors. Autonomous drive capability is currently the best solution for aircraft, which can save the maneuver time for aircraft. An idea is proposed that the wheels are driven by APU-powered (auxiliary power unit) motors, APU is working on its efficient point; consequently, the emissions, fuel burn, and noise will be reduced significantly. For Front-wheel drive aircraft, the front wheel must provide longitudinal force to tow the plane forward and lateral force to help the aircraft make a turn. Forward traction effects the aircraft’s maximum turning ability, which is difficult to be modeled to guide the controller design. Deep reinforcement learning provides a powerful tool to help us design controllers for black-box models; however, the models of related works are always simplified, fixed, or not easily modified, but that is what we care about most. Only with complex models can the trained controller be intelligent. High-fidelity models that can easily modified are necessary for aircraft ground maneuver controller design. This paper focuses on the maneuvering problem of front-wheel drive aircraft, a high-fidelity aircraft taxiing dynamic model is established, including the 6-DOF airframe, landing gears, and nonlinear tire force model. A deep reinforcement learning based controller was designed to improve the maneuver performance of front-wheel drive aircraft. It is proved that in some conditions, the DRL based controller outperformed conventional look-ahead controllers.     

机载光纤数据总线系统的设计

 本文讨论机载数据总线的发展、应用、通讯协议、系统结构。文中着重讨论总线控制器和远程终端的硬件设计、软件设计及光导纤维传输系统的设计,还列举了一些实验情况及结果。     

激光导引车模糊控制技术研究

为了解决目前差速驱动车体在行进过程的跑偏问题,文章提出了将现有的差速驱动装置更换为舵轮驱动的同时,在运动控制方面引入模糊控制算法.在AGV运动规律的基础上,以法向位置误差和方位角误差为输入,舵轮转角为输出,建立了双输入单输出模糊控制系统.通过实验的分析和比较,确定了模糊控制器中的各个参数,并且利用自制的小车进行了相关的运动学实验,验证了控制系统以及所建立模型的正确性,为进一步研究激光导引AGV小车打下了理论和实验基础.实验结果表明,AGV控制系统运行平稳,性能良好,最大行使速度可达40m/min,导航精度可达±10mm,停车精度可达±5mm,能够连续工作24h,能够满足实际生产需要.     

Dynamic tests with a switched reluctance motor drive

Starting and reversing times of less than 40 ms, torque ripple below ten percent and operational speeds over 5000 1/min. (rpm) can be achieved with our 6/4 prototype switched reluctance motor drive. The drive efficiency approaches 80 percent but it is currently limited by high switching frequency. Peak currents of 50 A are needed in the 4.2 kW machine. Experimental results of the prototype switched reluctance machine are shown     

On-line gain-tuning IP controller using RFNN

In this study an integral-proportional (IP) controller with on-line gain-tuning using a recurrent fuzzy neural network (RFNN) is proposed to control the mover position of a permanent magnet linear synchronous motor (PMLSM) servo drive system. The structure and operating principle of the PMLSM are first described in detail. A field-oriented control PMLSM servo drive is then introduced. After that, an IP controller with on-line gain tuning using an RFNN is proposed to control the mover of the PMLSM for achieving high-precision position control with robustness. The backpropagation algorithm is used to train the RFNN on line. Moreover to guarantee the convergence of tracking error for the periodic step-command tracking, analytical methods based on a discrete-type Lyapunov function are proposed to determine the varied learning rates of the RFNN. Furthermore, the proposed control system is implemented in a PC-based computer control system, Finally, the effectiveness of the proposed PMLSM servo drive system is demonstrated by some simulated and experimental results. Accurate tracking response and superior dynamic performance can be obtained due to the powerful on-line learning capability of the RFNN. In addition, the proposed on-line gain-tuning servo drive system is robust with regard to parameter variations and external disturbances     

机载供电系统双余度控制器的容错控制

介绍双发（Twin-engines）系统的战斗机的机载供电系统控制器的设计和实现。机载供电系统控制器是管理飞机的供电系统的航空电子设备,是飞机供电系统的核心设备,肩负飞机安全的使命。为了提高控制器的可靠性和灵活性,放弃传统的模拟方法,使用先进的数字化技术实现对飞机供电、配电系统的管理。在设计中为了提高可靠性,使用主动复制的容错技术,设计了双余度控制器,在发生单通道错误的情况下,整个系统能够正确工作。对机载供电系统控制器容错技术进行了研究,包括双余度系统的管理策略、同步控制机制、余度管理和故障综合、信号比较监控和通道切换逻辑。     

一种基于在线辨识和专家系统的飞行器智能姿态控制方法

针对未来战场形势对攻击型飞行器提出的大包线飞行、大不确定、主动容错控制问题,提出了一种基于在线辨识和专家系统的智能姿态控制方法。该方法通过在线估计飞行器的时域、频域关键参数,驱动专家系统实时计算并调整控制器参数;结合时域、频域辨识结果诊断、定位故障,实现故障隔离、控制策略调整。该方法综合了飞行器结构、气动试验数据和专家知识,通过在线辨识和估计丰富了专家系统推理计算所需信息,促进了专家系统的在线应用,是一种近期可实现的智能控制方法。仿真结果表明,采用该方法,姿态发散概率由无容错控制时的45%降低到容错控制时的0%,姿态控制任务完成率100%。     

模块化多电平变频驱动系统的转矩脉动最小化控制

应用基于两电平变频器的传统感应电机驱动系统存在输出转矩脉动较大的问题。针对这个问题,设计了一种模块化多电平变频器驱动的多极感应电机转矩脉动最小化控制方案。基于多极感应电机设计了其多电平驱动变频器拓扑,并采用了一种单极性的载波移相空间矢量脉宽调制技术进行控制。通过脉冲序列生成分析和计算,系统的低次输出谐波都达到了开关频率的四倍频以上,进而有效降低了转矩脉动。基于模块化多电平变频器的多级感应电机驱动试验平台进行了对比试验研究,试验结果验证了在新型控制策略下的有效性,电机转矩脉动得到了明显改善。     

Novel sliding mode controller for synchronous motor drive

A novel sliding mode controller with an integral-operation switching surface is proposed. Furthermore, an adaptive sliding mode controller is investigated, in which a simple adaptive algorithm is utilized to estimate the bound of uncertainties. The position control for a permanent magnet (PM) synchronous servo motor drive using the proposed control strategies is illustrated. The theoretical analysis and the theorems for the proposed sliding mode controllers are described in detail. Simulation and experimental results show that the proposed controllers provide high-performance dynamic characteristics and are robust with regard to plant parameter variations and external load disturbance     

BTT导弹的抖动抑制多模型切换控制

 基于线性系统特征结构配置和模型跟踪方法,以及优化工具,提出了可以有效抑制抖动的多模型切换控制策略,并用该策略设计了 BTT导弹俯仰 /偏航通道的自动驾驶仪。在导弹的整个飞行轨道上选取了若干点,分别建立起描述 BTT导弹俯仰 /偏航运动的线性时不变数学模型。对各个线性时不变模型,分别用特征结构配置方法设计反馈控制器对系统进行镇定。为了使导弹过载跟踪制导指令,又基于模型跟踪方法设计了前馈控制器。当导弹跨越不同特征点区域时,控制器要进行切换。为了减小切换时的抖动,针对切换后的特征结构配置反馈控制器,利用优化工具合理选取其自由度。仿真结果表明,所提出的方法令导弹的输出过载准确跟踪制导指令,而且切换抖动得到有效抑制。     

基于新型变速趋近律的永磁同步电机滑模控制

为了改善永磁同步电机(PMSM)调速系统的动态品质,提出了一种基于变速趋近律方法的PMSM滑模速度控制策略。为了提高传统指数趋近律的收敛速度和消除系统抖阵现象的影响,在传统指数趋近律的基础上提出了一种新型变速趋近律方法,并应用该方法设计了一种PMSM调速系统的滑模速度控制器。通过仿真和试验结果对比分析,证明该算法不仅改善了系统的鲁棒性能,同时改善了系统的动态响应速度。     

Non-fragile switching tracking control for a flexible air-breathing hypersonic vehicle based on polytopic LPV model

This article proposes a linear parameter varying (LPV) switching tracking control scheme for a flexible air-breathing hypersonic vehicle (FAHV). First, a polytopic LPV model is constructed to represent the complex nonlinear longitudinal model of the FAHV by using Jacobian linearization and tensor-product (T-P) model transformation approach. Second, for less conservative controller design purpose, the flight envelope is divided into four sub-regions and a non-fragile LPV controller is designed for each parameter sub-region. These non-fragile LPV controllers are then switched in order to guarantee the closed-loop FAHV system to be asymptotically stable and satisfy a specified performance criterion. The desired non-fragile LPV switching controller is found by solving a convex constraint problem which can be efficiently solved using available linear matrix inequality (LMI) techniques, and robust stability analysis of the closed-loop FAHV system is verified based on multiple Lypapunov functions (MLFs). Finally, numerical simulations have demonstrated the effectiveness of the proposed approach.