【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'.

%   Copyright 1990-2010 The MathWorks, Inc.

%

% 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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