CN103414417A - Bearing-free asynchronous motor suspension system fault-tolerant controller and construction method thereof - Google Patents
Bearing-free asynchronous motor suspension system fault-tolerant controller and construction method thereof Download PDFInfo
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Abstract
本发明公开一种无轴承异步电机悬浮系统容错控制器及其构造方法，采用支持向量机加与其对应的积分器分别构造复合被控对象的正常逆模型和故障逆模型，并组成逆模型库，选择逆模型库中的逆模型作为复合被控对象的逆模型，调整并确定对应的支持向量机的向量系数和阈值使逆模型库实现逆系统功能，将逆模型库与复合被控对象相串联得到伪线性系统，伪线性系统被解耦为两个二阶单输入单输出的位移线性子系统；对两个二阶位移线性子系统分别引入两个附加控制器构造线性闭环控制器；将线性闭环控制器和逆模型库共同构成支持向量机逆容错控制器，在正常和带故障运行条件下，实现无轴承异步电机悬浮系统的非线性解耦控制，具有很好的容错性和鲁棒性。
The invention discloses a fault-tolerant controller for a suspension system of a bearingless asynchronous motor and a construction method thereof. A support vector machine and an integrator corresponding thereto are used to respectively construct a normal inverse model and a fault inverse model of a composite controlled object, and form an inverse model library. Select the inverse model in the inverse model library as the inverse model of the compound controlled object, adjust and determine the vector coefficients and thresholds of the corresponding support vector machine to make the inverse model library realize the function of the inverse system, and connect the inverse model library and the compound controlled object in series The pseudo-linear system is obtained, and the pseudo-linear system is decoupled into two second-order single-input and single-output displacement linear subsystems; two additional controllers are respectively introduced into the two second-order displacement linear subsystems to construct a linear closed-loop controller; the linear The closed-loop controller and the inverse model library together constitute the support vector machine inverse fault-tolerant controller, which realizes the nonlinear decoupling control of the suspension system of the bearingless asynchronous motor under normal and faulty operating conditions, and has good fault tolerance and robustness .
Description
Technical field
The invention belongs to extraordinary electric drive technology field, be specifically related to the fault-tolerant controller without bearing asynchronous machine suspension system, be a kind of based on two SVMs inversion models without bearing asynchronous machine suspension system fault-tolerant controller.
Background technology
Without the bearing asynchronous machine, be by the new special motor of magnetic levitation technology and the combination of conventional asynchronous motor, have the advantage of asynchronous machine and magnetic bearing concurrently, existing structure is simple, reliable, the advantage such as with low cost, avoided again the problems such as lubricated, the wearing and tearing of mechanical bearing and noise.Without the bearing asynchronous machine, can meet the special dimensions such as modern industry, medicine, military affairs to (surpassing) at a high speed, without friction, without wearing and tearing, without the requirement of lubricated, non-maintaining high-performance special power transmission system.Yet, along with more and more extensive without the application of bearing asynchronous machine in special type driving/transmission field, its integrity problem becomes increasingly conspicuous, therefore study and improve without the bearing asynchronous machine, the strategy of the reliability of its suspension system particularly, reducing or avoid hindering for some reason the loss caused, is this area urgent problem.
The SVMs method of inverse is to utilize the approximation capability of SVMs to non linear system, builds the inversion model of non linear system, and, before being series at original system, realizing that the decoupling zero of original system is controlled, thereby obtain high-quality control effect.Yet the method can only realize system decoupling zero under normal circumstances and control, situation about operating with failure for system but can't complete decoupling zero control, therefore contrary new extend type or the method for vector machine that be necessary to seek support realizes non linear system, such as without the decoupling zero of bearing asynchronous machine suspension system under normal and fault condition, controlling.
Summary of the invention
The objective of the invention is to control without the fault-tolerant decoupling zero of bearing asynchronous machine suspension system in order to realize, raising is without the reliability of bearing asynchronous machine suspension system, provide a kind of based on two SVMs inversion models without bearing asynchronous machine suspension system fault-tolerant controller and building method thereof.
The present invention without the technical scheme that bearing asynchronous machine suspension system fault-tolerant controller adopts is: jointly form before by the linear closed-loop controller, being serially connected in the inversion model storehouse, described linear closed-loop controller is composed in parallel by two additional controllers, described inversion model storehouse forms pseudo-linear system before being serially connected in composite controlled object, pseudo-linear system is equivalent to two Second Order Displacements linear subsystems, composite controlled object is by the Park inverse transformation, the Clark inverse transformation, current track inverter and controlled composing in series successively without bearing asynchronous machine suspension system, described inversion model storehouse is composed in parallel by normal inversion model and fault inversion model, normal inversion model is comprised of the first SVMs and four integrators, the fault inversion model is comprised of the second SVMs and another four integrators, composite controlled object also connects the inversion model storehouse by the fault detect handover module.
The present invention is to adopt successively following steps without the technical scheme of the building method of bearing asynchronous machine suspension system fault-tolerant controller:
A, by Park inverse transformation, Clark inverse transformation, current track inverter and compose in series successively composite controlled object without bearing asynchronous machine suspension system, this composite controlled object is with two electric currents
Signal is as input, with the rotor radial displacement
X, ySignal is as output;
B, set up the Mathematical Modeling without bearing asynchronous machine suspension system, through coordinate transform and linear the amplification, obtain the Mathematical Modeling of composite controlled object, this Mathematical Modeling is carried out to reversibility Analysis, there is inversion model in proof through deriving;
C, employing the first SVMs add 4 normal inversion models of integrators structure, adopt the second SVMs to add another 4 integrators structure fault inversion model, normal inversion model and fault inversion model are formed to the inversion model storehouse together, and the inversion model storehouse is input as the rotor radial displacement
X, ySignal, be output as two electric currents
Signal;
D, in two kinds of situations normally moving without the bearing asynchronous machine or operate with failure, determine respectively vectorial coefficient and the threshold value of the first SVMs or the second SVMs;
E, utilize the fault detect handover module to detect the running status of composite controlled object, when fault-free, selects the inversion model of normal inversion model as composite controlled object, when breaking down, selection fault inversion model is as the inversion model of composite controlled object;
F, the inversion model storehouse is series at before composite controlled object and forms pseudo-linear system, the linearized decoupling zero of pseudo-linear system is the displacement linear subsystem of 2 second order single-input single-outputs; 2 Second Order Displacements linear subsystems are introduced respectively to 2 linear closed loop controllers of additional controller structure;
G, linear closed-loop controller and inversion model storehouse are formed to the contrary fault-tolerant controller of SVMs jointly.
The invention has the beneficial effects as follows:
1, the present invention is by the two SVMs inversion models of structure without bearing asynchronous machine suspension system, under normal and the condition that operates with failure, to be decoupled into two single-input single-output linear displacement subsystems without this multivariable of bearing asynchronous machine suspension system, nonlinear and time-varying system, and realize controlling without the Nonlinear Decoupling of bearing asynchronous machine suspension system.
2, the present invention utilizes the recurrence ability of SVMs to nonlinear function, identification is without normal inversion model and the fault inversion model of bearing asynchronous machine suspension system, not only solve method of inverse and asked for the defect of inversion model, and overcome neural net had many weak points in identification inversion model process, have good fault-tolerance and robustness, improved the reliability of system.
The accompanying drawing explanation
Fig. 1 is by Park inverse transformation 11, Clark inverse transformation 12, current track inverter 13 and the controlled composite controlled object 1 become without 14 equivalences of bearing asynchronous machine suspension system;
Fig. 2 is the structural representation in the inversion model storehouse 2 that consists of normal inversion model 22 and fault inversion model 24;
Fig. 3 is series at the inversion model storehouse 2 in Fig. 2 schematic diagram and the isoboles thereof of the pseudo-linear system 3 of compound formation before the composite controlled object 1 in Fig. 1;
Fig. 4 is the structure chart of the closed-loop control system that consists of linear closed-loop controller 4 and pseudo-linear system 3;
Fig. 5 is the theory diagram without the contrary fault-tolerant controller 5 of bearing asynchronous machine suspension system SVMs.
In figure: 1. composite controlled object; 2. inversion model storehouse; 3. pseudo-linear system; 4. linear closed-loop controller; 5. SVMs is against fault-tolerant controller; 6. fault detect handover module; 11.Park inverse transformation; 12.Clark inverse transformation; 13. current track inverter; 14. without bearing asynchronous machine suspension system; 21. SVMs; 22. normal inversion model; 23. SVMs; 24. fault inversion model; 41,42. additional controllers.
Embodiment
As in Figure 3-5, the present invention is the contrary fault-tolerant controller 5 of a kind of SVMs without bearing asynchronous machine suspension system fault-tolerant controller, before by linear closed-loop controller 4, being serially connected in inversion model storehouse 2, jointly form, and before being serially connected in composite controlled object 1, be used to controlling composite controlled object 1.Between composite controlled object 1 and inversion model storehouse 2, have a fault detect handover module 6, composite controlled object 1 connects inversion model storehouse 2 by this fault detect handover module 6.Described linear closed-loop controller 4 is composed in parallel by two additional controllers 41,42; Described inversion model storehouse 2 forms pseudo-linear system 3 before being serially connected in composite controlled object 1, and pseudo-linear system 3 is equivalent to two Second Order Displacements linear subsystems; Described inversion model storehouse 2 is composed in parallel by normal inversion model 22 and fault inversion model 24, and normal inversion model 22 is comprised of SVMs 21 and four integrators, and fault inversion model 24 is comprised of SVMs 23 and another four integrators; Described composite controlled object 1 is by Park inverse transformation 11, Clark inverse transformation 12, current track inverter 13 and controlled composing in series successively without bearing asynchronous machine suspension system 14.
The present invention adopts SVMs to add normal inversion model 22 and fault inversion model 24 that the integrator corresponding with it constructed respectively composite controlled object 1, and forms inversion model storehouse 2; Inversion model in selection inversion model storehouse 2 is as the inversion model of composite controlled object 1, adjust and determine that the vectorial coefficient of corresponding SVMs and threshold value make inversion model storehouse 2 realize the inverse system function of composite controlled object 1, inversion model storehouse 2 and composite controlled object 1 are in series and obtain pseudo-linear system 3, and pseudo-linear system 3 is the displacement linear subsystem of two second order single-input single-outputs by decoupling zero; Two Second Order Displacements linear subsystems are introduced respectively to two linear closed loop controllers 4 of additional controller structure; By the contrary fault-tolerant controller 5 of the common formation SVMs of linear closed-loop controller 4 and inversion model storehouse 2, composite controlled object 1 is carried out to fault-tolerant control.The concrete building method of the contrary fault-tolerant controller 5 of SVMs divides following 8 steps:
1,, by Park inverse transformation 11, Clark inverse transformation 12, current track inverter 13 and be connected in series successively without bearing asynchronous machine suspension system 14, form composite controlled object 1, as shown in Figure 1.This composite controlled object 1 with
Two current signals are as input, with the rotor radial displacement
X, yAs output.
2, based on the operation principle without the bearing asynchronous machine, foundation is without the Mathematical Modeling of bearing asynchronous machine suspension system 14, and through coordinate transform and linear the amplification, obtain the Mathematical Modeling of composite controlled object 1, and this Mathematical Modeling is carried out to reversibility Analysis, through deriving, can prove that this Mathematical Modeling is reversible, namely have inversion model.
3, adopt SVMs 21 to add the normal inversion model 22 of 4 integrator structure composite controlled object 1, adopt SVMs 23 to add the fault inversion model 24 of other 4 integrators structure composite controlled object 1; The normal inversion model 22 of composite controlled object 1 and fault inversion model 24 are formed to inversion model storehouse 2 together; And can determine that inversion model storehouse 2 is input as the rotor radial displacement
X, ySignal, be output as two electric currents
Signal, as shown in Figure 2.
4,, in two kinds of situations normally moving without the bearing asynchronous machine or operate with failure, gather respectively the input current of composite controlled object 1
Signal and corresponding output rotor radial displacement
,
Signal, and by the rotor radial displacement
X, yThe signal off-line is asked its single order, second dervative, and signal is done to standardization processing, forms the training sample set of SVMs 21 or SVMs 23
And choose the kernel function of gaussian kernel function as SVMs 21 or SVMs 23, and choose suitable core width and regularization parameter according to actual conditions, SVMs 21 or SVMs 23 are trained, thus vectorial coefficient and the threshold value of definite SVMs 21 or SVMs 23.
5, utilize fault detect handover module 6 to detect the running status of composite controlled object 1, when composite controlled object 1 fault-free, normal inversion model 22 in selection inversion model storehouse 2 is as the inversion model of composite controlled object 1, when composite controlled object 1 broke down, the fault inversion model 24 in selection inversion model storehouse 2 was as the inversion model of composite controlled object 1.
6, inversion model storehouse 2 is series to composite controlled object 1 and forms pseudo-linear system 3 before, the linearized decoupling zero of pseudo-linear system 3 is the displacement linear subsystem of 2 second order single-input single-outputs, as shown in Figure 3.
7,2 Second Order Displacements linear subsystems are introduced respectively to the linear closed loop controller 4 of 2 additional controllers, 41,42 structure, as shown in Figure 4.
8, by the contrary fault-tolerant controller 5 of the common formation SVMs of linear closed-loop controller 4 and inversion model storehouse 2, composite controlled object 1 is carried out to fault-tolerant control, as shown in Figure 5.
According to the above, just can realize the present invention.
Claims (3)
1. one kind without bearing asynchronous machine suspension system fault-tolerant controller, it is characterized in that: by linear closed-loop controller (4), be serially connected in inversion model storehouse (2) and jointly form before, described linear closed-loop controller (4) is by two additional controllers (41, 42) compose in parallel, described inversion model storehouse (2) is serially connected in composite controlled object (1) and forms before pseudo-linear system (3), pseudo-linear system (3) is equivalent to two Second Order Displacements linear subsystems, composite controlled object (1) is by Park inverse transformation (11), Clark inverse transformation (12), current track inverter (13) and controlled composing in series successively without bearing asynchronous machine suspension system (14), described inversion model storehouse (2) is composed in parallel by normal inversion model (22) and fault inversion model (24), normal inversion model (22) is comprised of the first SVMs (21) and four integrators, fault inversion model (24) is comprised of the second SVMs (23) and another four integrators, composite controlled object (1) also connects inversion model storehouse (2) by fault detect handover module (6).
2. one kind as claimed in claim 1 without the building method of bearing asynchronous machine suspension system fault-tolerant controller, it is characterized in that adopting following steps:
A, by Park inverse transformation (11), Clark inverse transformation (12), current track inverter (13) and compose in series successively composite controlled object (1) without bearing asynchronous machine suspension system (14), this composite controlled object (1) is with two electric currents
Signal is as input, with the rotor radial displacement
X, ySignal is as output;
B, set up the Mathematical Modeling without bearing asynchronous machine suspension system (14), through coordinate transform and linear the amplification, obtain the Mathematical Modeling of composite controlled object (1), this Mathematical Modeling is carried out to reversibility Analysis, there is inversion model in proof through deriving;
C, employing the first SVMs (21) add 4 integrators structure normal inversion models (22), adopt the second SVMs (23) to add another 4 integrators structure fault inversion model (24), normal inversion model (22) and fault inversion model (24) are formed to inversion model storehouse (2) together, and inversion model storehouse (2) are input as the rotor radial displacement
X, ySignal, be output as two electric currents
Signal;
D, in two kinds of situations normally moving without the bearing asynchronous machine or operate with failure, determine respectively vectorial coefficient and the threshold value of the first SVMs (21) or the second SVMs (23);
E, utilize fault detect handover module (6) to detect composite controlled object (1) running status, when fault-free, select the inversion model of normal inversion model (22) as composite controlled object (1), when breaking down, select the inversion model of fault inversion model (24) as composite controlled object (1);
F, inversion model storehouse (2) are series to composite controlled object (1) form before pseudo-linear system (3), the linearized decoupling zero of pseudo-linear system (3) is the displacement linear subsystem of 2 second order single-input single-outputs; 2 Second Order Displacements linear subsystems are introduced respectively to 2 additional controllers (41,42) and construct linear closed loop controller (4);
G, linear closed-loop controller (4) and inversion model storehouse (2) are formed to the contrary fault-tolerant controller (5) of SVMs jointly.
3. building method according to claim 2, is characterized in that: in step D, in two kinds of situations normally moving without the bearing asynchronous machine or operate with failure, distinguish the Gather and input electric current
Signal and corresponding output rotor radial displacement
X, ySignal, and by the rotor radial displacement
X, yThe signal off-line is asked its single order, second dervative, and signal is done to standardization processing, forms the training sample set of the first SVMs (21) or the second SVMs (23)
And choose the kernel function of gaussian kernel function as the first SVMs (21) or the second SVMs (23), and choose suitable core width and regularization parameter according to actual conditions, the first SVMs (21) or the second SVMs (23) are trained, thus vectorial coefficient and the threshold value of definite the first SVMs (21) or the second SVMs (23).
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Cited By (4)
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| CN103770594A (en) * | 2014-01-16 | 2014-05-07 | 江苏大学 | Feed-type electromagnetic damping vibration attenuation control method for vehicle suspension |
| CN103847454A (en) * | 2014-01-16 | 2014-06-11 | 江苏大学 | Electromagnetic damping vibration reduction device for vehicle suspension |
| CN104767452B (en) * | 2015-03-02 | 2017-03-01 | 江苏大学 | Induction-type bearingless motor adaptive inversion decoupling control method based on nonlinear filter |
| CN106933241A (en) * | 2017-03-30 | 2017-07-07 | 北京航空航天大学 | Single-gimbal control momentum gyro spacecraft fault tolerant control method based on fault de couple |
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| CN103847454A (en) * | 2014-01-16 | 2014-06-11 | 江苏大学 | Electromagnetic damping vibration reduction device for vehicle suspension |
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| CN106933241A (en) * | 2017-03-30 | 2017-07-07 | 北京航空航天大学 | Single-gimbal control momentum gyro spacecraft fault tolerant control method based on fault de couple |
| CN106933241B (en) * | 2017-03-30 | 2019-11-29 | 北京航空航天大学 | Single-gimbal control momentum gyro spacecraft fault tolerant control method based on fault de couple |
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Application publication date: 20131127 |