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以多电机转速同步系统为对象,针对实际负载不确定及未知干扰对系统的影响,在速度外环采用自抗扰控制技术(ADRC),以提升同步控制性能;基于无速度传感器矢量控制原理,在电流内环采用扩张状态观测器(ESO),通过对含有转速的扩张状态的观测,进而实现对转速的估计;针对转速传感器的故障,对ESO估计转速与实际转速的残差进行分析,进而进行故障诊断;为保证故障系统安全平稳运行,在由实测转速向估计转速切换时,通过设计具有故障诊断可靠性评价的自适应柔性切换策略,保证了切换时的平滑过渡。仿真试验验证了所提方法的有效性。
Aiming at the influence of the actual load uncertainty and the unknown disturbance on the system, a multi-motor speed synchronization system is adopted. The ADRC is used in the speed outer loop to improve the synchronous control performance. Based on the principle of the speed sensorless vector control, In the current inner ring, an extended state observer (ESO) is used to estimate the rotation speed by observing the expansion state with the rotation speed. In view of the failure of the rotation speed sensor, the residual error between the ESO estimated rotation speed and the actual rotation speed is analyzed. In order to ensure the safe and stable operation of the faulty system, an adaptive flexible switching strategy with fault diagnosis reliability evaluation is designed to ensure the smooth transition during the handover when the measured rotational speed is switched to the estimated rotational speed. Simulation experiments verify the effectiveness of the proposed method.