改进FOPID控制器在PMSM伺服系统中的研究与应用

分数阶PIλDμ(FOPID)控制器在PID控制器的基础上增加了2个控制参数λ和μ,具有更高的灵活度及控制精度。将分数阶PIλDμ控制器应用于永磁同步电机(PMSM)调速系统能有效提高其性能指标。由于增加了控制参数,参数整定难度也随之提高。研究了通过粒子群算法对FOPID控制器参数整定,并引入自适应权重策略和混沌局部搜索策略来克服粒子群算法容易早熟的缺点。仿真和系统实际运行效果证明了该方法的可行性。     

车用PMSM的双闭环分数阶PID控制策略研究

纯电动汽车永磁同步电机（PMSM）控制系统是一种非线性、强耦合的复杂系统,为提高永磁同步电机的整体控制性能以及鲁棒性,文中提出了一种双闭环分数阶PID控制策略,分别对电流内环和速度外环进行相应的分数阶控制。通过建立电机的电流环模型进而得到整体系统的分数阶模型,设计出电流环以及速度环的分数阶PID控制器,并利用粒子群优化算法（PSO）对控制器参数进行寻优,以便于获得更好的控制性能。将所设计的分数阶控制器应用于车用永磁同步电机的控制中,通过与传统PID控制在不同转速、负载突变时的控制性能相对比,验证了文中所设计的分数阶PID控制器具有良好的动态特性和鲁棒性。     

基于预测模型双模糊分数阶PID的BLDCM调速系统优化控制

无刷直流电机（BLDCM）具有复杂的非线性系统,强耦合、变量多等特点,传统的PID控制无法获得满意的控制效果。为此,在模糊控制、分数阶微积分及模型预测相关理论的基础上,提出了预测模型双模糊分数阶PID控制器。分数阶控制为系统提供更多的控制余度,并采用一种间接算法（Oustaloup算法）完成整数阶PID控制的延伸和扩展,模糊控制实现分数阶PID控制参数的在线调整;建立预测模型,并引入模糊控制动态调整预测模型系数K值,实现更加精确的控制。针对模糊分数阶PID控制器中参数选择,又提出了一种改进的万有引力算法进行参数优化,增强控制器的自适应能力。仿真结果表明:基于改进万有引力算法的预测模型双模糊分数阶PID控制的BLDCM调速系统较传统的PID控制具有更快的响应速度、更小的超调量及抗负载扰动能力强等优良的动、静态性能指标。     

面向抽水蓄能电站区域负荷频率的分数阶PID控制研究

由于可再生能源发电系统固有的不确定性以及日益扩大的电网规模和区域内电站结构的复杂度对电力系统稳定运行造成影响。抽水蓄能电站作为一种调频资源,已成为区域电网负荷频率控制(load frequency control,LFC)的重要手段之一。由此,开展了抽水蓄能电站的区域LFC研究,搭建了考虑死区和发电速度约束等非线性因素下的两区域再热式汽轮机组LFC模型,设计了一个分数阶PID(fractional order PID,FOPID)控制器,利用改进Oustaloup算法实现分数阶微分算子的近似并与传统的PID控制器进行比较。仿真结果表明,文中提出的FOPID策略在控制含有非线性环节的系统时能达到更好的控制效果,表现出较强的鲁棒稳定性。对于抽水蓄能电站参与的负荷频率控制,能够缩短频率恢复时间,使二次调频的动态性能得到很大提升。     

超级电容储能系统鲁棒分数阶PID控制设计

针对超级电容储能系统(supercapacitor energy storage system, SCES)设计了一款鲁棒分数阶PID (robust fractional-order PID control, RFOPID)控制。首先,利用高增益扰动观测器(high-gain perturbation observer, HGPO)对SCES的非线性、未建模动态和参数不确定性所聚合的扰动进行实时快速估计。接着,该扰动由分数阶PID (fractional-order PID, FOPID)控制器进行完全补偿。所提控制器不依赖于精确的SCES模型,仅需测量dq轴电流,易于硬件实现。最后,通过3种算例对RFOPID控制的控制性能进行评估。仿真结果表明:与其他控制器相比,RFOPID控制在各种工况下均具有最佳的控制性能和最强的鲁棒性。     

抽水蓄能机组空载工况分数阶PID调节控制

抽水蓄能机组运行在低水头空载工况易进入"S"特性区域,进而引起机组频率大范围波动和运行不稳定。针对传统比例—积分—微分(PID)控制在低水头空载工况下不能较好地调节抽水蓄能机组频率波动的不足,基于全特性曲线对数曲线投影变换的水泵水轮机数学模型,提出了适用于抽水蓄能机组低水头空载工况运行的分数阶PID(FOPID)调节系统模型,并运用粒子群优化算法优化FOPID控制参数,重点讨论了FOPID控制在低水头空载开机和空载频率扰动时的应用。仿真分析表明:相较于传统PID控制,FOPID控制使得低水头空载运行时机组频率和导叶开度的过渡过程有了明显的改进,提高了抽水蓄能机组调节系统的速动性与稳定性。     

基于GWO-PSO优化的三级式发电机二自由度分数阶PID调压控制

针对航空三级式发电机存在建压超调、响应速度慢、电压稳定性差、负载扰动等问题,在双环调压结构的基础上,设计了一种基于灰狼混合粒子群算法(GWO-PSO)优化的二自由度分数阶PID(2DOF FOPID)调压控制器。利用二自由度控制,增强抗干扰和目标跟踪能力;结合分数阶控制,使参数的整定更加灵活,并具有对被控对象参数变化不敏感的特点,可以提升系统的控制性能;改进的GWO-PSO以灰狼优化算法的机制开始搜索过程,然后用PSO算法改进灰狼的位置,以平衡算法的局部搜索和全局开发的能力,利用改进的优化算法对2DOF FOPID控制器进行参数优化。仿真结果表明,所设计的控制器具有响应速度快、超调小的优点,提高了发电机的动静态性能和抗扰能力。     

三相电压型PWM整流器分数阶PID直接功率控制

研究了一种基于分数阶PID控制器的三相电压型PWM整流器直接功率控制方案,在瞬时功率理论的基础上设计了功率内环、直流电压外环的控制结构.由于基于整数阶PI控制器的抗扰性能差且对系统参数变化较敏感,在直接功率控制方法的直流侧电压控制环节引入分数阶PID控制器进行直流侧电压控制,根据系统功率模型采用分数阶控制器频域设计方法设计了分数阶P1D控制器.仿真实验证明,分数阶PID控制方案优于PI控制方案,具有良好的动态性能和较强的鲁棒性,响应速度更快,控制结果更精确.     

基于时域的分数阶PID广义预测控制算法改进及仿真

在分析FOPID(分数阶PID)算法和GPC(广义预测控制)算法的基础上,针对两种算法的不足,结合两种算法的优点,推导出了基于FOPID性能指标的改进的GPC算法FOPID - GPC算法,将GPC算法的性能指标通过FOPID构造出来.改进后的算法结合了FOPID算法的优点,具有多个可调参数,稳定性较好.通过对工业实时...     

水轮机水门的分数阶PID控制策略研究

针对水轮机调速系统的强非线性及易受各种内外部干扰影响,基于分数阶PID控制策略提出了一种新型的水门非线性控制器。通过对水轮机水门开度模型进行反馈线性化,结合分数阶PID控制理论约束自定义的控制变量,且利用遗传算法在线调节控制器的参数。仿真结果证明,与常规PID控制方式相比,所设计的水门分数阶PID控制器能有效地阻尼系统振荡,调速系统的鲁棒性得到较好的改善。     

Frequency domain design of fractional order PID controller for AVR system using chaotic multi-objective optimization

A fractional order (FO) PID or FOPID controller is designed for an Automatic Voltage Regulator (AVR) system with the consideration of contradictory performance objectives. An improved evolutionary Non-dominated Sorting Genetic Algorithm (NSGA-II), augmented with a chaotic Henon map is used for the multi-objective optimization based design procedure. The Henon map as the random number generator outperforms the original NSGA-II algorithm and its Logistic map assisted version for obtaining a better design trade-off with an FOPID controller. The Pareto fronts showing the trade-offs between the different design objectives have also been shown for both the FOPID controller and the conventional PID controller to enunciate the relative merits and demerits of each. The design is done in frequency domain and hence stability and robustness of the design is automatically guaranteed unlike the other time domain optimization based controller design methods.     

分数阶Buck变换器的最优pIλDμ控制

利用分数阶微积分理论建立Buck变换器的分数阶数学模型和分数阶状态平均模型,研究分数阶Buck变换器的电感分数阶次α、电容分数阶次β对其频域特性的影响。基于Buck变换器的分数阶模型,提出分数阶PI_λD_μ控制方法,构建基于电压型控制的分数阶Buck变换器反馈控制系统,利用遗传算法对分数阶PI_λD_μ控制器参数进行优化整定以获取系统最优控制性能,仿真实验结果表明系统在输入电压扰动、负载扰动下均获得良好的动态、稳态性能,对反馈控制系统参考电压扰动有良好的跟随性能,该方法可以改善分数阶Buck变换器系统的综合控制性能,提高系统的控制鲁棒性。     

An optimised FOPID controller for dynamic voltage stability and reactive power management in a stand-alone micro grid

This paper proposes the application of fractional order PID controller (FOPID) for reactive power compensation and stability analysis in a stand-alone micro grid. For enhancement of voltage stability and reactive compensation of the isolated system, a SVC based controller has been incorporated. This paper emphasizes the role of fractional PID based SVC controller for reactive power management and improved stability in the stand alone micro grid, as it provides a special advantage of having two more degree of freedom for accurate tuning in comparison with the conventional controller The system performance, particularly the variations in different parameters values are studied properly with different input parameters and loading conditions. Further improvement of stability margin and optimisation of the system parameters have been achieved by the controller, based on Imperialist competitive algorithm.     

Effective participation of wind turbines in frequency control of a two-area power system using coot optimization

In this paper, load frequency control is performed for a two-area power system incorporating a high penetration of renewable energy sources. A droop controller for a type 3 wind turbine is used to extract the stored kinetic energy from the rotating masses during sudden load disturbances. An auxiliary storage controller is applied to achieve effective frequency response. The coot optimization algorithm (COA) is applied to allocate the optimum parameters of the fractional-order proportional integral derivative (FOPID), droop and auxiliary storage controllers. The fitness function is represented by the summation of integral square deviations in tie line power, and Areas 1 and 2 frequency errors. The robustness of the COA is proven by comparing the results with benchmarked optimizers including: atomic orbital search, honey badger algorithm, water cycle algorithm and particle swarm optimization. Performance assessment is confirmed in the following four scenarios: (i) optimization while including PID controllers; (ii) optimization while including FOPID controllers; (iii) validation of COA results under various load disturbances; and (iv) validation of the proposed controllers under varying weather conditions.     

永磁直线同步电动机提升系统的模糊PID控制

针对永磁直线同步电动机(PMLSM)矢量控制系统．设计了一种将模糊控制和PID控制的优点结合的模糊PID速度调节器，并通过模糊规则在线调整PID控制的参数。介绍了模糊PID速度调节器的设计原理、设计过程和模糊规则。仿真表明，该方法具有算法简单、控制品质好等优点，具有实际应用价值。     

非线性PID控制器在超导磁储能装置中的应用

基于非线性比例积分微分PID(Proportional Integration Differential)控制器在设计上具有不依赖于被控系统数学模型的特点,设计了用于电力系统的超导磁储能装置SMES(Superconducting Magnetic Energy Storage)的非线性PID控制器。概述了非线性PID控制器利用“跟踪-微分器”非线性结构产生控制所需的比例、积分、微分信号的原理。介绍了含SMES的电力系统模型及非线性PID控制器的设计。数字仿真结果验证了所设计的控制器是可行的,同时表明该控制器结构简单、易实现。     

A new PID load frequency controller design method in frequency domain through direct synthesis approach

In this paper a new PID controller design method based on the direct synthesis (DS) approach of controller design in frequency domain is presented. The parameters of the PID controller are obtained through frequency response matching with the DS controller. The method yields linear algebraic equations, solution of which gives the controller parameters. The design method has been developed for single-area as well as multi-area power systems. Non-linearity like the generation rate constraint (GRC) has been considered. Several examples are taken from the literature to demonstrate the effectiveness of the proposed method in comparison with some prevalent design methods.