Hanoi University of Science and Technology, Hanoi, 100000, Viet Nam.
Hanoi University of Industry, Hanoi, 100000, Viet Nam.
ISA Trans. 2023 Jul;138:408-431. doi: 10.1016/j.isatra.2023.03.005. Epub 2023 Mar 8.
In this paper, sensorless robust speed control with nonlinear lumped mismatched disturbance observers for a permanent magnet type axial gap bearingless motor (AGBM) is designed. Multistage anti-windup-based dynamic surface control combined with integral backstepping control is proposed to control the motor's axial displacement and rotor speed. The approach is against parameter uncertainties and external disturbances, improving steady-state accuracy, eliminating the derivative explosion phenomenon, no chattering problem, and reducing the magnitude of the control system when current saturation occurs. In addition, a novel nonlinear lumped mismatched disturbance observer is proposed to improve the approach under unmodeled dynamics and external disturbances. To obtain high-accuracy tracking control, the control system includes the robust controller combined with the disturbance observers and anticipatory activation of anti-windup (AW) compensation, which means the controller is more complex. Then, to design a sensorless robust speed control for the motor, the rotor position and speed observer require higher accuracy. High-gain back-EMF observer combined with an improved phase-locked loop is proposed to estimate rotor angular position and speed even when the motor speed is reversed. Overall stability of closed-loop system control, including a sensorless speed control approach for motors using back-EMF estimation combined with saturation of the currents and lumped disturbance observers, is mathematically proven. Finally, the simulation results under measurement noise show that the proposed control system are obtained the effectiveness, feasibility, and robustness.
本文设计了一种用于永磁型轴向气隙磁悬浮电机（AGBM）的无传感器鲁棒速度控制方法，采用非线性集中不匹配干扰观测器。提出了基于多阶段抗积分饱和的动态面控制与积分反步控制相结合的方法，以控制电机的轴向位移和转子速度。该方法针对参数不确定性和外部干扰，提高了稳态精度，消除了导数爆炸现象，无抖振问题，并且在电流饱和时减小了控制系统的幅度。此外，还提出了一种新颖的非线性集中不匹配干扰观测器，以提高在未建模动态和外部干扰下的方法。为了获得高精度的跟踪控制，控制系统包括与干扰观测器相结合的鲁棒控制器和预激活抗积分饱和（AW）补偿，这意味着控制器更复杂。然后，为了设计电机的无传感器鲁棒速度控制，转子位置和速度观测器需要更高的精度。提出了一种高增益反电动势观测器与改进的锁相环相结合的方法，即使电机反转，也能估计转子的角位置和速度。闭环系统控制的总体稳定性，包括使用反电动势估计和电流饱和以及集中干扰观测器的电机无传感器速度控制方法，在数学上得到了证明。最后，在测量噪声下的仿真结果表明，所提出的控制系统具有有效性、可行性和鲁棒性。
