基于谐振二自由度的永磁同步直线电机电流谐波抑制研究

发布时间：2018-06-18 00:03

本文选题：永磁同步直线电机 + 电流谐波抑制　；参考：《安徽大学》2017年硕士论文

【摘要】：在直线进给运动的实现方案中,永磁同步直线电机(PMSLM)因其具有大推力、大行程、高加速度、定位精度高等特点逐步取代了同步旋转电机结合滚轴丝杆、同步带的传统实现方案,被普遍用于高精密的加工应用场合。精度是衡量激光雕刻机、3D打印机等数控机床的一个重要性能指标。对于一个PMSLM控制系统,电流环作为内环,电流的质量好坏决定了推力的平稳性、数控机床定位的精度。电流谐波成分越多,电机控制系统的推力波动越大,系统运行的平稳性越差,数控机床定位精度越差。因此,本论文提出了一种谐振二自由度PID控制算法,对PMSLM的电流谐波进行了抑制。其具体包括以下几个方面的研究。1、围绕PMSLM位置、速度、电流三闭环矢量控制系统的研究,首先,分别推导了 PMSLM在三种坐标系下的数学模型。接着,对SVPWM技术进行了阐述与仿真。然后,采用磁定位法作为PMSLM初始位置检测方法,保证了PMSLM控制系统的正常启动。最后,基于矢量控制的基本原理、建立了基于Id*=0的PMSLM三闭环矢量控制系统。为下文谐波抑制算法的仿真研究以及实验验证打下基础。2、受到诸如逆变器死区效应等非线性因素的影响,PMSLM相电流会存在谐波成分,进而产生推力波动。因此,为了抑制该电流谐波成分,本论文首先对电流谐波成分进行了分析。然后,将广泛应用于并网系统滤波的谐振控制器引入到电机控制系统的电流环控制器中,利用其在谐振频率点的高增益特点来实现电流谐波的抑制,实现无静差的跟踪输入信号。接着,针对谐振控制器在谐波抑制的过程中所产生的超调响应,本论文采用二自由度(2DOF)控制算法解决该超调响应。最后,本论文结合谐振控制器、2DOF控制算法,提出了一种谐振二自由度(resonant-2DOF)PID控制算法,设计了一种resonant-2DOF PID控制器,仿真结果证明了本论文提出的resonant-2DOF PID控制算法的正确性与有效性。3、为了优化本论文所设计的reSonant-2DOFPID控制器参数,首先介绍了差分进化(DE)算法的原理:在此基础上,建立了基于DE算法优化resonant-2DOF PID控制器参数的仿真控制模型,得到了一组最优K_p、K_i、K_d值。最后,为了验证resonant-2DOF PID控制算法能够抑制电流谐波的目的,建立了基于resonant-2DOF的PMSLM电流谐波抑制仿真模型,并将通过DE算法所得的K_p、K_i、K_d代入resonant-2DOFPID控制器以及传统PID控制器当中,与传统PID控制算法进行对比仿真实验。4、搭建了实验硬件控制平台,基于AD5435半实物仿真控制系统进行了在不同速度、不同负载的工作条件下的对比实验验证。仿真对比结果和实验对比结果均验证了本论文所提出的resonant-2DOF PID控制算法能够实现PMSLM电流谐波抑制的目的,削弱推力波动,对提高直线伺服控制系统的定位精度具有重要的意义。
[Abstract]:In the realization of linear feed motion, PMSLM (permanent Magnet synchronous Linear Motor) has gradually replaced the traditional scheme of synchronous rotating motor combined with roller rod and synchronous belt because of its characteristics of large thrust, large stroke, high acceleration and high positioning accuracy. It is widely used in high precision processing applications. Precision is an important performance index of CNC machine tools such as laser engraving machine and 3D printer. For a PMSLM control system, the current loop is used as the inner loop. The quality of the current determines the stability of the thrust and the positioning accuracy of the NC machine tool. The more harmonic components of the current, the greater the thrust fluctuation of the motor control system, the worse the stability of the system, and the worse the positioning accuracy of CNC machine tools. Therefore, in this paper, a resonant two-degree-of-freedom pid control algorithm is proposed to suppress the current harmonics of PMSLM. It includes three closed loop vector control systems: position, velocity and current. Firstly, the mathematical models of PMSLM in three coordinate systems are derived. Then, the SVPWM technology is described and simulated. Then, the magnetic location method is used as the initial position detection method of PMSLM to ensure the normal start of PMSLM control system. Finally, based on the basic principle of vector control, a three-loop vector control system of PMSLM based on IdML-0 is established. It lays a foundation for the simulation research and experimental verification of the following harmonic suppression algorithm. The PMSLM phase current will have harmonic components which will cause thrust fluctuation due to the influence of nonlinear factors such as dead-time effect of inverter. Therefore, in order to suppress the harmonic component of the current, this paper firstly analyzes the harmonic component of the current. Then, the resonant controller, which is widely used in grid-connected system filtering, is introduced into the current loop controller of the motor control system, and the current harmonic suppression is realized by using its high gain characteristic at the resonant frequency point. The tracking input signal without static error is realized. Then, aiming at the overshoot response of the resonant controller in the process of harmonic suppression, a two-degree-of-freedom (2-DOF) control algorithm is used to solve the overshoot response. Finally, combining with the 2DOF control algorithm of the resonant controller, this paper presents a resonant two-degree-of-freedom resonant-2DOF pid control algorithm, and designs a resonance 2DOF pid controller. The simulation results prove the correctness and validity of the resonance 2DOF pid control algorithm proposed in this paper. In order to optimize the parameters of the reSonant-2DOFPID controller designed in this paper, the principle of the differential evolution algorithm is first introduced. A simulation control model based on DE algorithm is established to optimize the parameters of the pid controller. Finally, in order to verify that the resonance 2DOF pid control algorithm can suppress the current harmonics, a PMSLM current harmonic suppression simulation model based on resonance 2DOF is established. Compared with the traditional pid control algorithm, a hardware control platform is built. The hardware control system based on AD5435 hardware-in-the-loop simulation control system is compared with the traditional pid control algorithm under different speed and load conditions. The simulation results and experimental results show that the resonance 2DOF pid control algorithm proposed in this paper can achieve the purpose of harmonic suppression of PMSLM current, weaken the thrust fluctuation, and improve the positioning accuracy of linear servo control system.
【学位授予单位】：安徽大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273;TM359.4

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