低速永磁同步电机抗扰动策略研究

发布时间：2018-08-29 12:07

【摘要】：永磁同步电动机有输出力矩大、效率高、工作稳定等众多特性,而且相比于其他电机它占用体积更小,这样它逐步广泛应用于一些高性能应用场合。永磁同步电机是一种机电能量转换装置,并且已经应用于国民产业的各个领域以及大众的日常生活中。但是永磁同步电机在低速运行下易受到来自内部以及外部负载扰动的影响,研究低速抗扰动策略是十分必要的。在参阅了国内外相关文献的基础上,首先研究分析了永磁同步电机的结构以及工作原理,推导出永磁同步电机在不同坐标系下的函数模型。其次研究了高性能永磁同步电机伺服系统的控制策略,对电流环的常见几种控制策略作了优缺点分析,采用基于id=0的矢量控制方式,使得交流电机的多个耦合变量变化为简单的线性关系。并对基于id=0的矢量控制方式进行了原理阐述以及MATLAB仿真,仿真结果验证了策略的有效性。针对速度环的控制策略,我们分析了现有几种常见的低速下控制策略的优缺点,相对于传统的PID控制策略,基于滑模控制策略具有对参数摄动以和外界扰动较强鲁棒性的特点,将滑模控制应用于速度环,加之自身调节参数较少易于实际应用。为了进一步抑制干扰以及滑模固有的抖振问题,在滑模控制中引入了积分滑模面和边界层法,对实际电机建立数学模型,利用MATLAB对滑模控制进行仿真实验,实验证明了该策略优于传统的PID控制。为了证明滑模策略在实际应用中的意义,设计了以TI公司32位微控制器TMS320F28335和ADI公司的16位高精度模数转换芯片AD7606为核心的驱动电路,电流采样采用高精度的霍尔电流传感器,驱动放大器选用了三菱公司的超小型集成功率放大器IPM21961。并在CCS环境下编写了永磁同步电机驱动程序,完成电路各部分的调试。最后,采用PID和滑模控制两种速度环控制策略下作了相关实验,利用matlab工具对实验数据进行处理,对比分析了两种策略的优缺点,初步证明了滑模控制在低速运行下具有更加良好的抗干扰能力。
[Abstract]:Permanent magnet synchronous motor (PMSM) has many characteristics, such as large output torque, high efficiency, stable operation and so on. Compared with other motors, permanent magnet synchronous motor (PMSM) occupies a smaller volume, so it is gradually widely used in some high performance applications. Permanent magnet synchronous motor (PMSM) is a kind of electromechanical energy conversion device, and has been used in every field of Yu Guomin industry and in the daily life of the public. However, PMSM is susceptible to internal and external load disturbances at low speed, so it is necessary to study the low speed anti-disturbance strategy. On the basis of reference to relevant literatures at home and abroad, the structure and working principle of PMSM are studied and analyzed, and the functional models of PMSM in different coordinate systems are derived. Secondly, the control strategy of high performance PMSM servo system is studied, and the advantages and disadvantages of several common control strategies of current loop are analyzed. The vector control method based on id=0 is adopted. The multiple coupling variables of AC motor are changed into simple linear relation. The principle of vector control based on id=0 and MATLAB simulation are discussed. The simulation results verify the effectiveness of the strategy. In view of the speed loop control strategy, we analyze the advantages and disadvantages of several common low speed control strategies. Compared with the traditional PID control strategy, the sliding mode control strategy has the characteristics of strong robustness to the parameter perturbation and external disturbance. The sliding mode control is applied to the speed loop, and it is easy to be applied in practice. In order to further suppress the interference and the inherent chattering problem of sliding mode, the integral sliding mode surface and boundary layer method are introduced in the sliding mode control. The mathematical model of the actual motor is established, and the simulation experiment of the sliding mode control is carried out by using MATLAB. Experiments show that this strategy is superior to the traditional PID control. In order to prove the significance of sliding mode strategy in practical application, a driving circuit based on TI 32-bit microcontroller TMS320F28335 and ADI's 16-bit high precision A / D conversion chip AD7606 is designed. The current sampling adopts high precision Hall current sensor. The drive amplifier uses Mitsubishi's ultra-small integrated power amplifier IPM21961. The permanent magnet synchronous motor driver program is written in CCS environment to complete the debugging of each part of the circuit. Finally, the experiment is done by using PID and sliding mode control, and the experimental data are processed by matlab tool. The advantages and disadvantages of the two strategies are compared and analyzed. It is preliminarily proved that sliding mode control has better anti-interference capability at low speed.
【学位授予单位】：中国科学院研究生院(光电技术研究所)
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TM341

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