基于全驱系统理论的永磁同步电机连续时变抗扰控制

王东亨; 李兵强; 周素莹; 武涵; 曹明明

doi:10.16383/j.aas.c250527

基于全驱系统理论的永磁同步电机连续时变抗扰控制

doi: 10.16383/j.aas.c250527

王东亨^{1, 2,},
李兵强^{1, 2,},
周素莹^{1, 2,},
武涵^1,,
曹明明^1,

1.
西北工业大学自动化学院西安 710129
2.
飞机电推进技术工业和信息化部重点实验室西安 710072

基金项目: 陕西省杰出青年科学基金(2022JC-32), 陕西省自然科学基础研究计划资助项目(2025JC-YBMS-546), 西北工业大学博士论文创新基金(CX2025084)资助

详细信息

作者简介:
王东亨：西北工业大学自动化学院博士研究生. 2022年获得冶金自动化研究设计院硕士学位. 主要研究方向为永磁电机高性能无感控制、抗扰控制和参数辨识. E-mail: wangdongheng@mail.nwpu.edu.cn

李兵强：西北工业大学自动化学院教授. 2010年获得西北工业大学博士学位. 主要研究方向为多电飞机, 迭代学习控制, 伺服控制和多智能体系统与应用. 本文通信作者. E-mail: libingqiang@nwpu.edu.cn

周素莹：西北工业大学自动化学院副教授. 2009年获得西北工业大学博士学位. 主要研究方向为多电/全电飞机及相关技术, 伺服控制和可靠性设计与分析. E-mail: nwpususu@nwpu.edu.cn

武涵：西北工业大学自动化学院博士研究生. 2023年获得太原理工大学硕士学位.主要研究方向为非线性控制, 电力电子变换器. E-mail: wuhan_00@mail.nwpu.edu.cn

曹明明：西北工业大学自动化学院博士研究生. 2024年获得郑州轻工业大学硕士学位. 主要研究方向为双三相永磁电机故障诊断与容错控制. E-mail: cmm101092@mail.nwpu.edu.cn

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出版历程
- 收稿日期: 2025-10-11
- 录用日期: 2026-01-30
- 网络出版日期: 2026-05-02

Continuous Time-varying Disturbance-rejection Control of Permanent Magnet Synchronous Motor Based on Fully Actuated System Theory

WANG Dong-Heng^{1, 2
,},
LI Bing-Qiang^{1, 2
,},
ZHOU Su-Ying^{1, 2
,},
WU Han^1
,,
CAO Ming-Ming^1
,

1.
School of Automation, Northwestern Polytechnical University, Xi＇an 710129
2.
Key Laboratory of Aircraft Electric Propulsion Technology, Ministry of Industry and Information Technology, Xi＇an 710072

Funds: Supported by Shaanxi Science Fund for Distinguished Young Scholars (2022JC-32), Natural Science Basic Research Program of Shaanxi (2025JC-YBMS-546), and Innovation Foundation for Doctor Dissertation of Northwestern Polytechnical University (CX2025084)

More Information

Author Bio:
WANG Dong-Heng　Ph.D. candidate at the School of Automation, Northwestern Polytechnical University. He received his master degree from Automation Research and Design Institute of Metallurgical Industry in 2022. His research interests include high performance sensorless control, disturbance-rejection control, and parameter identification of PMSM

LI Bing-Qiang　Professor at the School of Automation, Northwestern Polytechnical University. He received his Ph.D. degree from Northwestern Polytechnical University in 2010. His research interests include more electric aircraft, iterative learning control, servo control, and multiagent systems and their applications. Corresponding author of this paper

ZHOU Su-Ying　Associate professor at the School of Automation, Northwestern Polytechnical University. She received her Ph.D. degree from Northwestern Polytechnical University in 2009. Her research interests include more electric/all electric aircraft and related technologies, servo control, and reliability design and analysis

WU Han　Ph.D. candidate at the School of Automation, Northwestern Polytechnical University. He received his master degree from Taiyuan University of Technology in 2023. His research interests include nonlinear control and power electronic converters

CAO Ming-Ming　Ph.D. candidate at the School of Automation, Northwestern Polytechnical University. He received his master degree from Zhengzhou University of Light Industry in 2024. His research interests include fault diagnosis and fault-tolerant control of dual three-phase PMSM

摘要

摘要: 针对永磁同步电机系统存在的参数不确定性、外部扰动及非完整约束特性导致的控制难题, 提出一种基于全驱系统(FAS) 理论的连续时变控制方法. 首先对转速误差动态模型进行微分分析, 将其转化为一个以$q$ 轴电压为输入的二阶FAS形式. 进而通过设计一个包含比例积分项的最优控制律, 主动塑造系统的闭环动态, 并引入一个非线性扰动观测器对集总扰动进行实时估计与前馈补偿. 进一步地, 基于Lyapunov稳定性理论证明所设计的闭环系统在时变扰动下是一致最终有界稳定的, 且在扰动变化率为零时是全局渐近稳定的. 最后给出系统化的参数整定流程, 将控制器与观测器参数直接与期望的响应速度、阻尼特性等性能指标相关联. 结果表明, 所提控制方法能够使系统状态快速、平滑地收敛至期望值, 在不同工况下均表现出良好的跟踪性能和扰动抑制能力, 验证了该方法的有效性和实用性.
- 永磁同步电机 /
- 全驱系统理论 /
- 连续时变控制 /
- 非线性扰动观测器 /
- Lyapunov稳定性理论
Abstract: A continuous time-varying control method based on fully actuated system (FAS) theory is proposed to address control challenges caused by parameter uncertainty, external disturbances, and incomplete constraint characteristics in permanent magnet synchronous motor systems. First, the speed error dynamic model undergoes differential analysis and is transformed into a second-order FAS form with $q$-axis voltage as input. Then, an optimal control law incorporating a proportional-integral term is designed to actively shape closed-loop dynamics. A nonlinear disturbance observer is introduced for real-time estimation and feedforward compensation of lumped disturbances. Furthermore, based on Lyapunov stability theory, it is proven that the designed closed-loop system achieves uniformly ultimately bounded stability under time-varying disturbances and exhibits global asymptotic stability when disturbance rates are zero. Finally, a systematic parameter tuning procedure is presented, directly relating controller and observer parameters to desired performance metrics such as response speed and damping characteristics. The results show that the proposed control method can quickly and smoothly converge the system state to the expected value, and exhibits good tracking performance and disturbance-rejection ability under different operating conditions, verifying the effectiveness and practicality of the proposed method.
- permanent magnet synchronous motor /
- fully actuated system theory /
- continuous time-varying control /
- nonlinear disturbance observer /
- Lyapunov stability theory

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图 1 本文所提策略控制框图

Fig. 1 The control block diagram of the strategy proposed in this paper

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图 2 FAS-CTVC结构框图

Fig. 2 The structure diagram of FAS-CTVC

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图 3 NDOB结构框图

Fig. 3 The structure diagram of NDOB

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图 4 不同${a_1}$ 下的转速波形

Fig. 4 Speed waveforms at different ${a_1}$ values

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图 5 不同${a_0}$ 下的转速波形

Fig. 5 Speed waveforms at different ${a_0}$ values

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图 6 不同$L$ 下的转速波形

Fig. 6 Speed waveforms at different ${L}$ values

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图 7 电机参数摄动时转速波形

Fig. 7 Speed waveforms under motor parameters perturbation

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图 8 转速波形对比

Fig. 8 Speed waveforms comparison

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图 9 转速误差波形

Fig. 9 Speed error waveforms

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图 10 电磁转矩波形

Fig. 10 Electromagnetic torque waveforms

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图 11 $q$ 轴电流波形

Fig. 11 $q$-axis current waveforms

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图 12 母线电流波形

Fig. 12 DC-link current waveforms

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图 13 B相电流波形

Fig. 13 Phase B current waveforms

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表 1 PMSM参数

Table 1 PMSM parameters

参数	值
额定功率(kW)	1.5
额定转速(r/min)	3 000
额定转矩(N$\cdot $m)	5
电子电阻($ {\Omega}$)	0.515
定子电感(mH)	1.715
永磁体磁链(Wb)	0.138333
转动惯量(kg$\cdot $$\mathrm{m^2}$)	0.00063
粘性摩擦系数(N$\cdot$m$\cdot$s)	0.0008
极对数	4

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表 2 控制器参数

Table 2 Parameters of controllers

控制器	参数	值
FAS-CTVC	控制器参数$ a_0 $	1 148 000
	控制器参数$ a_1 $	6 750
	观测器增益$ L $	1 050
PI	转速环比例项$ k_p^\omega $	0.15
PI	转速环积分项$ k_i^\omega $	7.65
NESMC	控制器参数$ \eta $	45
	控制器参数$ \varepsilon $	2 000
	控制器参数$ q $	2 150
	控制器参数$ \alpha_1 $	3
	控制器参数$ \beta_1 $	3

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表 3 动态性能对比

Table 3 Dynamic performance comparison

工况	PI		NESMC		FAS-CTVC
工况	超调/跌落(r/min)	稳定时间(s)	超调/跌落(r/min)	稳定时间(s)	超调/跌落(r/min)	稳定时间(s)
启动	+18	0.10	+8	0.08	+5	0.02
加速	+9	0.09	+9	0.08	+10	0.02
加载	$ - $46	0.11	$ - $45	0.08	$ - $13	0.01
减载	+38	0.10	+10	0.08	+12	0.01
减速	$ - $27	0.11	$ - $11	0.09	$ - $7	0.03

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