Control strategy of dual permanent magnet motor system for distributed electric propulsion aircraft
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摘要:
为了减小气流等其他因素对分布式电推进飞机中各推进电动机带来的负载扰动导致的转速突变，使得总推力突变或机身左右两侧推力不一致而导致飞机偏航，需要保证各推进电动机具有良好的抗干扰能力和转速同步性。针对此问题，提出了一种针对双永磁电机系统的改进交叉耦合控制策略，采用了改进趋近律的滑模同步控制器。同时设计了一种负载观测器，该观测器以可直接通过位置传感器测得的电机转子位置信号为已知量，避免了微分突变的引入。对所提出的双永磁电机系统控制策略进行了一系列仿真及实验验证，仿真与实验结果发现：在转矩突变时，该控制策略与传统交叉耦合控制策略相比，转速突变减小约50%，同步误差减小约18%，证明了该控制策略与传统交叉耦合控制策略相比具有更高的同步性能和更强的抗干扰能力。
Abstract:In order to reduce the sudden change of speed caused by load disturbance arising from air flow and other factors on each propulsion motor in distributed electric propulsion aircraft, which results in sudden change of total thrust or inconsistent thrust on the left and right sides of the fuselage, it is necessary to ensure that each propulsion motor has good anti-interference ability and speed synchronization. To solve this problem, an improved cross coupling control strategy for dual permanent magnet motor system was proposed, and a sliding mode synchronous controller with improved reaching law was adopted. At the same time, a load observer was designed, which took the motor rotor position signal directly measured by the position sensor as the known quantity, and avoided the introduction of differential mutation. Finally, a series of simulations and experiments were carried out to verify the proposed control strategy of dual permanent magnet motor system. Simulation and experimental results showed that compared with traditional cross coupling control strategies, this control strategy reduced speed mutation by about 50% and synchronization error by about 18% in case of torque mutation, which proved that this control strategy had higher synchronization performance and stronger anti-interference ability compared with traditional cross coupling control strategies.
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图 3 带负载观测器的永磁电动机矢量控制框图
Figure 3. Vector control block diagram of permanent magnet motor with load observer
图 4 推进电动机沿飞机展向布置示意图
Figure 4. Schematic diagram of the arrangement of propulsion motors along the aircraft’s span
图 5 传统交叉耦合控制结构框图
Figure 5. Block diagram of traditional cross coupling control structure
图 13 螺旋桨负载转矩与转速关系曲线
Figure 13. Relation curve between load torque and speed of propeller
图 14 对拖平台的螺旋桨负载模拟实验波形
Figure 14. Experimental waveforms of propeller load simulation on towing platform
图 16 传统交叉耦合控制实验波形
Figure 16. Experimental waveforms of traditional cross coupling control
图 17 改进交叉耦合控制实验波形
Figure 17. Experimental waveforms of improved cross coupling control
表 1 永磁电动机参数
Table 1. Parameters of permanent magnet motors
Un/V n/（r/min） ѱf/Wb p/对 Rs/Ω Ls/mH 24 3000 0.01428 2 0.34 0.92 
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