基于自抗扰控制的永磁直流电机调速系统及其无速度传感器方案研究

发布时间：2018-05-23 18:43

本文选题：永磁直流电机 + 扩张状态观测器　；参考：《山东大学》2017年硕士论文

【摘要】：直流电动机具有良好的调速特性、较高的起制动转矩和过载能力等一系列优点,因此一直在传动领域中占据着重要地位。在调速系统运行过程中,电机的电枢电阻、电枢电感、负载都可能随着工况不同而发生改变,导致转速发生变化。传统的PI控制对扰动有一定的抑制作用,但对幅值大、变化快的干扰无能为力。本课题研究由永磁直流电机组成的直流调速系统的自抗扰控制(Active Disturbance Rejected Control,ADRC)方法,对提高系统抗干扰能力及动态响应的快速性都具有重要意义。本文在阅读了大量文献的基础上,以用于逆变焊机气保焊中的永磁直流电机调速系统为例,对基于扩张状态观测器(Extended State Observer,ESO)的ADRC控制方案进行了详细地研究。主要研究内容如下:(1)首先介绍了永磁直流电机的基本运行原理、结构特征、数学模型及其控制方案。(2)详细讨论了 ESO的基本工作原理及其特点。对线性扩张状态观测器(Linear Extended State Observer,LESO)的设计方案尤其是参数的确定方法进行了深入地探讨。然后,针对直流传动系统设计了一个二阶LESO,从而获得了速度环总扰动的估计信息。(3)以永磁直流伺服电机组成的调速系统为例,根据LESO所观测到扰动的信息,设计了基于ADRC的直流调速系统。考虑到ADRC可能存在的问题,文中还介绍了使用跟踪微分器(Tracking Differentiator,TD)的解决方案。样机的仿真结果验证了该方案的有效性。(4)鉴于直流电机的电枢电流包含换向信息,而换向信息可以被作为转子的转速信息加以利用,从而取代用于检测转子位置的光电编码器或旋转变压器,实现无机械位置传感器的控制方案。本文提出了一种基于电枢电流换向信息的新颖的无速度传感器测速方案。考虑到转子转速与电枢电流对于该方案实现过程中所涉及到的诸多问题,文中提出了相应的解决方案,并制作了样机,验证了方案的有效性,为最终实现无速度传感器的调速系统奠定基础。
[Abstract]:DC motor has a series of advantages, such as good speed regulation characteristics, high braking torque and overload ability, so it has been playing an important role in the field of transmission. In the process of speed regulation system, the armature resistance, armature inductance and load of the motor may change with the different working conditions, which leads to the change of the speed. The PI control has a certain inhibitory effect on the disturbance, but it is incapable of disturbing the disturbance with a large amplitude and fast change. The study of the Active Disturbance Rejected Control (ADRC) method, which is composed of permanent magnet DC motor, is of great importance to improving the system resistance to interference and the fast dynamic response of the system. On the basis of reading a large number of documents, this paper studies the ADRC control scheme based on Extended State Observer (ESO) for an example of the permanent magnet DC motor speed regulation system in the air guarantee welding of inverter welding machine. The main research contents are as follows: (1) first, the basic operation of permanent magnet DC motor is introduced. Principles, structural features, mathematical models and their control schemes. (2) the basic principle and characteristics of ESO are discussed in detail. The design of the Linear Extended State Observer (LESO), especially the method of determining the parameters, is deeply discussed. Then, a two order LES is designed for the DC transmission system. O, thus obtaining the estimation information of the total disturbance of the speed loop. (3) taking the speed control system composed of permanent magnet DC servo motor as an example, based on the information observed by LESO, the DC speed regulation system based on ADRC is designed. Considering the possible problems of ADRC, the solution of the Tracking Differentiator (TD) is also introduced in this paper. The simulation results of the prototype verify the effectiveness of the scheme. (4) since the armature current of the DC motor contains the commutation information, the commutation information can be used as the rotational speed information of the rotor, thus replacing the photoelectric encoder or rotating voltage transformer used to detect the rotor position, so as to realize the control scheme without the mechanical position sensor. A novel speed sensorless speed sensor based on the commutation information of armature current is proposed in this paper. Considering the problems involved in the implementation of the scheme, the corresponding solutions are put forward in this paper, and a prototype is made to verify the effectiveness of the scheme for the final realization of the speed transmission. It lays the foundation for the speed control system of the sensilla.
【学位授予单位】：山东大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TM33

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