永磁直线同步电机的反演滑模控制研究

发布时间：2018-04-24 14:15

本文选题：永磁直线同步电机 + 动态面　；参考：《沈阳工业大学》2017年硕士论文

【摘要】：永磁直线同步电机伺服系统在数控机床、机器人、电子工业、航空工业等领域有着广泛的应用,永磁直线同步电机是其主要的驱动设备,永磁直线同步电机的优点是加、减速度较大,定位精度较高,缺点是易受摩擦等扰动因素的影响,使伺服系统性能降低,不能满足期望要求。首先,本文强调了永磁直线同步电机在工业制造等领域的重要作用,点明课题的研究意义,概述了永磁直线同步电机的控制策略,总结了反演滑模控制策略的研究现状和直线伺服系统的组成及其工作原理,在永磁直线同步电机结构和工作原理的基础上,建立了永磁直线同步电机的数学模型,并在磁场定向条件下进行简化,进行了影响永磁直线同步电机伺服系统性能的扰动因素分析,为后续研究做铺垫。其次,在反演控制和滑模控制的基础上,概述了反演滑模控制器的一般设计方法,考虑到系统参数变化等的影响和系统上界的不确定性,引入自适应控制,结合反演滑模控制设计自适应反演滑模控制器,使得由系统上界不确定引起的问题得以解决,自适应反演滑模变量的设计使系统兼顾了鲁棒性和快速性,同时削弱了系统的抖振。仿真结果表明,与反演滑模控制和鲁棒反演滑模控制相比,自适应反演滑模控制系统响应速度快,鲁棒性强,且系统抖振现象得到了抑制。最后,引入动态面的概念,针对反演滑模控制中对虚拟控制求导时引起的项数膨胀问题,设计动态面反演滑模控制器,虚拟控制的导数由一阶积分滤波器求得,避免了项数膨胀的问题,简化了控制器设计,提高了控制系统性能。仿真结果表明,永磁直线同步电机动态面反演滑模控制系统在考虑参数变化、负载扰动、摩擦力和端部效应的影响时,响应速度快,鲁棒性强,同时动态面反演滑模面的设计削弱了系统的抖振,系统跟踪定位性能好。
[Abstract]:Permanent magnet linear synchronous motor servo system is widely used in the fields of CNC machine tools, robots, electronics industry, aviation industry and other fields. Permanent magnet linear synchronous motor is its main driving device. The advantages of permanent magnet linear synchronous motor are added, high speed reducing, high positioning precision, and the disadvantage of easy to be affected by friction and other disturbance factors. The performance of the system is reduced and the expected requirements can not be met. Firstly, this paper emphasizes the important role of permanent magnet linear synchronous motor in industrial manufacturing, points out the research significance of the topic, summarizes the control strategy of permanent magnet linear synchronous motor, summarizes the research status of the inversion sliding mode control strategy and the composition and work of the linear servo system. On the basis of the structure and working principle of permanent magnet linear synchronous motor, the mathematical model of permanent magnet linear synchronous motor (PMSM) is established and simplified under the condition of magnetic field orientation. The disturbance factor analysis on the performance of permanent magnet linear synchronous motor servo system is analyzed and paving for further research. Secondly, inversion control and sliding mode control are used. On the basis of the system, the general design method of the inversion sliding mode controller is summarized. Considering the influence of the system parameters and the uncertainty of the upper bound of the system, the adaptive control is introduced and the adaptive inversion sliding mode controller is designed by the inverse sliding mode control, which can solve the problem caused by the uncertainty of the upper boundary of the system and the adaptive inversion slip. The design of the model variable makes the system both robust and fast, and weakens the chattering of the system. The simulation results show that the adaptive backsliding sliding mode control system has fast response and strong robustness compared with the inverse sliding mode control and robust inverse sliding mode control, and the system buffeting image is suppressed. Finally, the concept of dynamic surface is introduced. The dynamic surface inversion sliding mode controller is designed for the problem of the number of items caused by the virtual control in the inverse sliding mode control. The derivative of the virtual control is obtained by the first order integral filter, which avoids the problem of the expansion of the number of items, simplifies the design of the controller and improves the control system energy. The simulation results show that the dynamics of the permanent magnet linear synchronous motor is dynamic. With the influence of parameter variation, load disturbance, friction force and end effect, the surface inversion sliding mode control system has fast response speed and strong robustness. At the same time, the design of dynamic surface inversion sliding mode surface weakens the chattering of the system, and the tracking and positioning performance of the system is good.

【学位授予单位】：沈阳工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TM341

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