基于滑模观测器的PMSM无位置传感器矢量控制研究

发布时间：2018-07-07 20:51

本文选题：永磁同步电机 + 矢量控制　；参考：《西安科技大学》2017年硕士论文

【摘要】：永磁同步电机由于具有结构简单、体积小、运行可靠、精度高、适应性强、快速响应、性能好等诸多优点,在交流调速系统中发挥了非常重要的作用,在民用、军事工业和航空航天等领域中得到广泛应用。在传统的电机矢量控制系统中,电机转子速度及位置的测量是通过机械传感器得到,其通常安装在转子上,这样电机的花费会增加,同时也使运行可靠性降低。为了克服机械传感器带来的劣势无传感器控制技术应运而生。本文主要以表贴式永磁同步电机为研究对象,以基于滑模观测器的永磁同步电机无位置传感器控制算法为研究重点,对转子位置和速度的估算方法进行了研究和改进。首先,建立不同坐标系,并对在不同坐标系下的永磁同步电机的数学模型进行分析。对矢量控制的基本原理和几种常用的矢量控制策略进行了研究,基于不同控制策略的优点选择了采用以定子电流最优理论的矢量控制方法。建立了速度、电流双闭环控制框图,并在此基础上,分析了空间电压矢量脉宽调制技术。其次,探讨了滑模变结构控制及传统滑模观测器的原理,针对传统观测器存在的抖振、速度估算不精确与相位延迟等问题进行分析,对传统滑模观测器进行改进研究。改进的滑模观测器采用连续函数代替开关函数来削弱抖振,采用跟随速度变化的变截止频率滤波器得到良好的滤波效果,并且转子位置补偿时,降低计算量。改进的方法用锁相环来估算转子位置和速度,使估算精度得到提高,有效地改善观测效果。最后,为了验证改进方法的正确性和可行性,在MATLAB仿真软件中,建立了电机矢量控制系统仿真模型,对传统观测器的算法模型进行仿真分析及对改进观测器的算法模型进行仿真分析,将这两种仿真结果进行比较,改进的滑模观测器具有较高的精确度和较强的鲁棒性得到验证,从而证明了它的有效性与良好的性能。搭建了硬件平台,对系统硬件及软件流程进行设计,对系统硬件模块做了测试,完成了第一部分实验矢量控制,为后续进行无位置传感器实验做好实验平台。
[Abstract]:Permanent magnet synchronous motor (PMSM) has many advantages, such as simple structure, small size, reliable operation, high precision, strong adaptability, fast response, good performance and so on, so it plays a very important role in AC speed regulation system and plays a very important role in civil use. Military industry, aerospace and other fields have been widely used. In the traditional motor vector control system, the speed and position of the motor rotor are measured by mechanical sensors, which are usually installed on the rotor, so the cost of the motor will be increased, and the reliability of the motor will be reduced at the same time. In order to overcome the disadvantage of mechanical sensors, sensorless control technology emerged as the times require. This paper focuses on the sensorless control algorithm of permanent magnet synchronous motor (PMSM) based on sliding mode observer and researches and improves the estimation method of rotor position and speed. Firstly, different coordinate systems are established, and the mathematical models of PMSM in different coordinate systems are analyzed. The basic principle of vector control and several commonly used vector control strategies are studied. Based on the advantages of different control strategies, a vector control method based on the stator current optimal theory is selected. The double closed loop control block diagram of speed and current is established, and the space voltage vector pulse width modulation technology is analyzed. Secondly, the principle of sliding mode variable structure control and traditional sliding mode observer is discussed. The problems of buffeting, inaccuracy of velocity estimation and phase delay of traditional observer are analyzed, and the improvement of traditional sliding mode observer is studied. The modified sliding mode observer uses continuous function instead of switching function to weaken buffeting, adopts variable cut-off frequency filter with variable speed to obtain good filtering effect, and reduces the computational complexity when rotor position compensation. The improved method uses phase-locked loop to estimate rotor position and velocity, which improves the accuracy of the estimation and effectively improves the observation effect. Finally, in order to verify the correctness and feasibility of the improved method, the simulation model of motor vector control system is established in MATLAB simulation software. The algorithm model of the traditional observer and the algorithm model of the improved observer are simulated and analyzed. The two simulation results are compared. The improved sliding mode observer has higher accuracy and stronger robustness. It proves its effectiveness and good performance. The hardware platform is built, the system hardware and software flow are designed, the hardware module of the system is tested, the first part of the experiment vector control is completed, and the experimental platform for the subsequent sensorless experiment is done.
【学位授予单位】：西安科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TM341

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