中国电机工程学报2024，Vol.44Issue(9)：3691-3701,中插30,12.DOI:10.13334/j.0258-8013.pcsee.222530
基于强化学习的刚性联接双电机系统无模型最优协调控制
Model-free Optimal Coordinated Control for Rigidly Connected Dual-motor Systems Using Reinforcement Learning
摘要
Abstract
Dual permanent magnet synchronous motor(PMSM)systems have the characteristics of uncertain model parameters,external load changes and coexistence of fast and slow dynamics,which brings challenges to their optimal coordinated control.This paper proposes a model-free optimal coordinated control method based on reinforcement learning(RL).First,the mathematical model of the dual-PMSM system under traditional master-slave control and PI controllers is formulated.Next,by output regulation and optimal control theories,an optimal coordinated controller is designed to solve the problem of external load change of the system.Then,a RL algorithm independent of model parameters is proposed for uncertainty of model parameters and the coexistence of fast and slow dynamic to learn the controller gain.The proposed control method can improve the tracking performance and synchroni-zation performance of the dual-PMSM system,suppress the interference of unknown time-varying loads,and avoid the influence of parameter uncertainty.Finally,the simulation and experimental results verify that the proposed control strategy can effectively improve the speed tracking performance and torque synchronization performance of the dual-PMSM system.关键词
强化学习/最优控制/输出调节/双永磁同步电机系统Key words
reinforcement learning/optimal control/output regulation/dual-PMSM system分类
信息技术与安全科学引用本文复制引用
杨春雨,王海,赵建国..基于强化学习的刚性联接双电机系统无模型最优协调控制[J].中国电机工程学报,2024,44(9):3691-3701,中插30,12.基金项目
国家自然科学基金项目(61873272,62073327) （61873272,62073327）
江苏省自然科学基金项目(BK20200086). Project Supported by National Natural Science Foundation of China(61873272,62073327) （BK20200086）
Natural Science Foundation of Jiangsu Province(BK20200086). （BK20200086）
