【电力】永磁同步电机-自抗扰控制PMSM ADRC附matlab代码

1 内容介绍

纹波推力扰动,负载扰动,摩擦力扰动和其他不确定性扰动严重影响永磁直线同步电机(PMLSM)控制系统的性能,对控制系统的抗干扰能力提出了更高的要求.本文采用自抗扰控制(ADRC)方法,利用扩张状态观测器估计所有未知扰动作用量并给予实时动态补偿,从而抑制未知扰动实现"自抗扰"控制,同时估计出速度及其微分;跟踪微分器给出了一种计算微分的有效方法,并根据PMLSM的承受能力安排速度指令过渡过程;采用更合适的非线性PD误差反馈率计算控制量.利用基于Matlab/Simulink的xPC Target构建控制系统实验平台,实验结果表明,采用ADRC的PMLSM控制系统具有很强的抗扰性和静动态特性.

2 部分代码

function [sys,x0,str,ts,simStateCompliance] = sfuntmpl(t,x,u,flag)

%SFUNTMPL General MATLAB S-Function Template

% With MATLAB S-functions, you can define you own ordinary differential

% equations (ODEs), discrete system equations, and/or just about

% any type of algorithm to be used within a Simulink block diagram.

% The general form of an MATLAB S-function syntax is:

% [SYS,X0,STR,TS,SIMSTATECOMPLIANCE] = SFUNC(T,X,U,FLAG,P1,...,Pn)

% What is returned by SFUNC at a given point in time, T, depends on the

% value of the FLAG, the current state vector, X, and the current

% input vector, U.

% FLAG RESULT DESCRIPTION

% ----- ------ --------------------------------------------

% 0 [SIZES,X0,STR,TS] Initialization, return system sizes in SYS,

% initial state in X0, state ordering strings

% in STR, and sample times in TS.

% 1 DX Return continuous state derivatives in SYS.

% 2 DS Update discrete states SYS = X(n+1)

% 3 Y Return outputs in SYS.

% 4 TNEXT Return next time hit for variable step sample

% time in SYS.

% 5 Reserved for future (root finding).

% 9 [] Termination, perform any cleanup SYS=[].

% The state vectors, X and X0 consists of continuous states followed

% by discrete states.

% Optional parameters, P1,...,Pn can be provided to the S-function and

% used during any FLAG operation.

% When SFUNC is called with FLAG = 0, the following information

% should be returned:

% SYS(1) = Number of continuous states.

% SYS(2) = Number of discrete states.

% SYS(3) = Number of outputs.

% SYS(4) = Number of inputs.

% Any of the first four elements in SYS can be specified

% as -1 indicating that they are dynamically sized. The

% actual length for all other flags will be equal to the

% length of the input, U.

% SYS(5) = Reserved for root finding. Must be zero.

% SYS(6) = Direct feedthrough flag (1=yes, 0=no). The s-function

% has direct feedthrough if U is used during the FLAG=3

% call. Setting this to 0 is akin to making a promise that

% U will not be used during FLAG=3. If you break the promise

% then unpredictable results will occur.

% SYS(7) = Number of sample times. This is the number of rows in TS.

% X0 = Initial state conditions or [] if no states.

% STR = State ordering strings which is generally specified as [].

% TS = An m-by-2 matrix containing the sample time

% (period, offset) information. Where m = number of sample

% times. The ordering of the sample times must be:

% TS = [0 0, : Continuous sample time.

% 0 1, : Continuous, but fixed in minor step

% sample time.

% PERIOD OFFSET, : Discrete sample time where

% PERIOD > 0 & OFFSET < PERIOD.

% -2 0]; : Variable step discrete sample time

% where FLAG=4 is used to get time of

% next hit.

% There can be more than one sample time providing

% they are ordered such that they are monotonically

% increasing. Only the needed sample times should be

% specified in TS. When specifying more than one

% sample time, you must check for sample hits explicitly by

% seeing if

% abs(round((T-OFFSET)/PERIOD) - (T-OFFSET)/PERIOD)

% is within a specified tolerance, generally 1e-8. This

% tolerance is dependent upon your model's sampling times

% and simulation time.

% You can also specify that the sample time of the S-function

% is inherited from the driving block. For functions which

% change during minor steps, this is done by

% specifying SYS(7) = 1 and TS = [-1 0]. For functions which

% are held during minor steps, this is done by specifying

% SYS(7) = 1 and TS = [-1 1].

% SIMSTATECOMPLIANCE = Specifices how to handle this block when saving and

% restoring the complete simulation state of the

% model. The allowed values are: 'DefaultSimState',

% 'HasNoSimState' or 'DisallowSimState'. If this value

% is not speficified, then the block's compliance with

% simState feature is set to 'UknownSimState'.

% The following outlines the general structure of an S-function.

switch flag,

%%%%%%%%%%%%%%%%%%

% Initialization %

%%%%%%%%%%%%%%%%%%

case 0,

[sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes;

%%%%%%%%%%%%%%%

% Derivatives %

%%%%%%%%%%%%%%%

case 1,

sys=mdlDerivatives(t,x,u);

%%%%%%%%%%

% Update %

%%%%%%%%%%

case 2,

sys=mdlUpdate(t,x,u);

%%%%%%%%%%%

% Outputs %

%%%%%%%%%%%

case 3,

sys=mdlOutputs(t,x,u);

%%%%%%%%%%%%%%%%%%%%%%%

% GetTimeOfNextVarHit %

%%%%%%%%%%%%%%%%%%%%%%%

case 4,

sys=mdlGetTimeOfNextVarHit(t,x,u);

%%%%%%%%%%%%%

% Terminate %

%%%%%%%%%%%%%

case 9,

sys=mdlTerminate(t,x,u);

%%%%%%%%%%%%%%%%%%%%

% Unexpected flags %

%%%%%%%%%%%%%%%%%%%%

otherwise

DAStudio.error('Simulink:blocks:unhandledFlag', num2str(flag));

end

% end sfuntmpl

%=============================================================================

% mdlInitializeSizes

% Return the sizes, initial conditions, and sample times for the S-function.

%=============================================================================

function [sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes

% call simsizes for a sizes structure, fill it in and convert it to a

% sizes array.

% Note that in this example, the values are hard coded. This is not a

% recommended practice as the characteristics of the block are typically

% defined by the S-function parameters.

sizes = simsizes;

sizes.NumContStates = 0;

sizes.NumDiscStates = 2;

sizes.NumOutputs = 1;

sizes.NumInputs = 1;

sizes.DirFeedthrough = 0;

sizes.NumSampleTimes = 1; % at least one sample time is needed

sys = simsizes(sizes);

% initialize the initial conditions

x0 = [];

% str is always an empty matrix

str = [];

% initialize the array of sample times

ts = [0 0];

% Specify the block simStateCompliance. The allowed values are:

% 'UnknownSimState', < The default setting; warn and assume DefaultSimState

% 'DefaultSimState', < Same sim state as a built-in block

% 'HasNoSimState', < No sim state

% 'DisallowSimState' < Error out when saving or restoring the model sim state

simStateCompliance = 'UnknownSimState';

% end mdlInitializeSizes

%=============================================================================

% mdlDerivatives

% Return the derivatives for the continuous states.

%=============================================================================

function sys=mdlDerivatives(t,x,u)

sys = [];

% end mdlDerivatives

%=============================================================================

% mdlUpdate

% Handle discrete state updates, sample time hits, and major time step

% requirements.

%=============================================================================

function sys=mdlUpdate(t,x,u)

sys = [];

% end mdlUpdate

%=============================================================================

% mdlOutputs

% Return the block outputs.

%=============================================================================

function sys=mdlOutputs(t,x,u)

sys = [];

% end mdlOutputs

%=============================================================================

% mdlGetTimeOfNextVarHit

% Return the time of the next hit for this block. Note that the result is

% absolute time. Note that this function is only used when you specify a

% variable discrete-time sample time [-2 0] in the sample time array in

% mdlInitializeSizes.

%=============================================================================

function sys=mdlGetTimeOfNextVarHit(t,x,u)

sampleTime = 1; % Example, set the next hit to be one second later.

sys = t + sampleTime;

% end mdlGetTimeOfNextVarHit

%=============================================================================

% mdlTerminate

% Perform any end of simulation tasks.

%=============================================================================

function sys=mdlTerminate(t,x,u)

sys = [];

% end mdlTerminate

3 运行结果

4 参考文献

[1]龙晓军. 基于自抗扰技术的永磁同步电机调速方法研究[D]. 大连海事大学, 2011.

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