基于自抗擾控制器的電動(dòng)輪自卸車的控制與仿真分析

摘 要:針對(duì)礦用電動(dòng)輪自卸車的變頻調(diào)速矢量控制系統(tǒng)中感應(yīng)電機(jī)參數(shù)時(shí)變嚴(yán)重，控制魯棒性差的難題，提出了一種基于變結(jié)構(gòu)自抗擾控制器的感應(yīng)電動(dòng)機(jī)變頻調(diào)速系統(tǒng)控制方案，將轉(zhuǎn)子電阻時(shí)變看作磁鏈子系統(tǒng)的一種內(nèi)擾，負(fù)載干擾對(duì)轉(zhuǎn)速子系統(tǒng)的影響作為轉(zhuǎn)速子系統(tǒng)的外擾，通過(guò)擴(kuò)張狀態(tài)觀測(cè)器對(duì)不確定擾動(dòng)予以估計(jì)和補(bǔ)償.該方案有效地解決了參數(shù)時(shí)變對(duì)矢量控制系統(tǒng)解耦性能的影響，動(dòng)態(tài)控制性能優(yōu)于傳統(tǒng)PI調(diào)節(jié)器，仿真結(jié)果驗(yàn)證了方案的合理性與有效性.

關(guān)鍵詞:電動(dòng)輪自卸車;自抗擾控制;參數(shù)時(shí)變;魯棒控制

中圖分類號(hào):TM 301 文獻(xiàn)標(biāo)識(shí)碼:A

Control and Simulation Analysis of the Electric Wheel Dump 

Truck Based on Active Disturbances Rejection Controller

WEI Wenxiang1，2， LIU Guorong1，3

(1. College of Electrical and Information Engineering， Hunan Univ， Changsha， Hunan 410082， China;

2. Engineering Research Center of Advanced Mining Equipment， Ministry of Education， 

Hunan Univ of Science and Technology， Xiangtan， Hunan 411201， China;

3. Dept of Electrical and Information Engineering， Hunan Institute of Engineering， Xiangtan， Hunan 411104， China)

Abstract: To address the poor robust control and large scale parameter timevarying of inductionmotor variablefrequency speed regulation system in electric wheel dump truck， a kind of control scheme for inductionmotor variablefrequency speed regulation systems was proposed on the basis of the variable structure active disturbances rejection controller (ADRC)， the change in rotor resistance was regarded as the inner disturbance of the flux subsystem ， the effect of load change as exterior disturbances of the rotate speed subsystem respectively ， and the extended state of an extended state observer (ESO) was used for estimation and compensation. The control scheme can solve such problems as the effect of timevarying parameter on the decoupling performance of a vector control system; and its dynamic control performance is superior to the traditional PI controller. Simulation result has verified the rationality and validity of the scheme.

Key words: electric wheel dump truck; active disturbances rejection controller; parameter timevarying; robust control