基于磁链辨识的永磁同步电机自适应鲁棒控制研究

发布时间：2018-03-04 16:30

本文选题：交流伺服系统　切入点：永磁同步电机　出处：《哈尔滨工业大学》2017年硕士论文　论文类型：学位论文

【摘要】：电力传动系统中,负载的转动惯量和转矩往往不能事先准确已知,并且这些参数会因工况不同而处于不断的变化之中。同时,电机运行过程中也会存在摩擦和外部扰动,我们将上述参数不确定和摩擦、扰动统称为不确定因素。针对不确定因素存在的背景,本文研究了不确定因素下的电机伺服控制问题。本文首先建立了永磁同步电机的数学模型,数学模型的建立有助于后续位置控制器和磁链观测器的设计。同时,为了紧扣研究背景中的“不确定因素”,本文详细分析了电机伺服系统中不确定因素的产生原因,并给出了摩擦扰动的表达式。由于电流控制器在伺服控制中的重要地位,本文论述了电流控制器的设计过程。本着简单实用的原则,使用PI电流控制器,阐述了控制器参数的整定依据,并详细分析了控制器的动态响应性能和抗扰性能。接着,本文提出了一种永磁同步电机自适应鲁棒位置控制策略。该控制策略以确定性鲁棒控制为基础,以外部扰动的界限为依据设计了鲁棒反馈控制项,首先保证了不确定因素存在下控制器对于电机位置的鲁棒跟踪性能。接着在控制器中引入自适应参数辨识机制,对转动惯量、负载转矩和摩擦因数进行在线估计,减小了参数扰动对伺服控制的影响,降低了鲁棒控制的保守性。本文详细参数了控制器的设计过程,对控制器的收敛性能进行了理论证明,并对控制器中的参数选取问题进行了讨论。由于自适应鲁棒位置控制器输出的是转矩给定信号,为实现转矩跟踪,本文在理论上提出来两种方案,分别需要对永磁同步电机的转子永磁体磁链和定子磁链进行辨识。本文分别设计了转子永磁体磁链自适应观测器和基于扩张磁链的最小阶定子磁链观测器,对观测器中的反馈增益矩阵的数值选取进行了讨论,并着重对磁链观测误差进行了理论分析。最后,在对所提出的位置跟踪控制器和磁链观测器进行仿真的基础上,搭建了以DSP28335为核心的永磁同步电机实验平台,验证了所提出的自适应鲁棒控制策略在实际应用中的可行性和有效性。
[Abstract]:In electric power transmission system, the moment of inertia and torque of load are often not known accurately in advance, and these parameters will be constantly changing according to different working conditions. At the same time, there will be friction and external disturbance in the process of motor operation. We refer to the uncertainties and frictions of the above parameters as uncertainties. In this paper, the problem of motor servo control with uncertain factors is studied. Firstly, the mathematical model of permanent magnet synchronous motor is established, which is helpful to the design of subsequent position controller and flux observer. In order to grasp the "uncertain factors" in the research background, the causes of the uncertainties in the motor servo system are analyzed in detail, and the expression of the friction disturbance is given, because of the important position of the current controller in the servo control. In this paper, the design process of the current controller is discussed. Based on the simple and practical principle and using the Pi current controller, the tuning basis of the controller parameters is expounded, and the dynamic response performance and immunity performance of the controller are analyzed in detail. In this paper, an adaptive robust position control strategy for PMSM is proposed, which is based on deterministic robust control and robust feedback control based on the bounds of external disturbances. Firstly, the robust tracking performance of the controller to the position of the motor in the presence of uncertain factors is guaranteed. Then, an adaptive parameter identification mechanism is introduced to estimate the moment of inertia, load torque and friction factor online. The influence of parameter disturbance on servo control is reduced, and the conservatism of robust control is reduced. In this paper, the design process of the controller is described in detail, and the convergence performance of the controller is proved theoretically. The problem of parameter selection in the controller is also discussed. Since the adaptive robust position controller outputs a given torque signal, in order to achieve torque tracking, two schemes are proposed in this paper. The rotor permanent magnet flux and stator flux flux of permanent magnet synchronous motor (PMSM) are identified respectively. In this paper, the rotor permanent magnet flux adaptive observer and the minimum order stator flux observer based on expanded flux are designed, respectively. The numerical selection of feedback gain matrix in the observer is discussed, and the theoretical analysis of the flux observation error is emphasized. Finally, based on the simulation of the proposed position tracking controller and flux observer, A permanent magnet synchronous motor (PMSM) experimental platform with DSP28335 as the core is built to verify the feasibility and effectiveness of the proposed adaptive robust control strategy in practical applications.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TM341

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