永磁同步直线电机无位置传感器动子位置估计研究

发布时间：2018-10-05 10:29

【摘要】：传统滚轴丝杆结合旋转电机的驱动控制方式是工业控制中常见的产生直线运动的策略,其控制精度会由于中间转换机构而减小,而永磁同步直线电机(PMSLM)由于其推力大、加速度高、动态响应好、定位精度高等优点逐渐被用于高速高精密加工机床中。为了实现PMSLM精确位置控制,能否获得精确的直线电机动子实时运动位置至关重要。直线电机闭环控制系统一般都是采用高分辨率的位置传感器来检测直线电机动子的运动位置,如光栅尺,磁栅尺等。然而位置传感器对工作环境要求很高,需要额外的外部辅助电路模块才能正常工作,此外对安装工序的要求也很苛刻,。针对位置传感器给控制系统带来的一系列弊端,将无位置传感器控制技术应用于永磁同步直线电机直接驱动控制系统中,克服了位置传感器给直线电机闭环驱动控制系统所带来的局限性。本课题就无位置传感器控制技术对实现直线电机的动子运动位置估计进行了研究探讨。首先,简要分析了PMSLM的工作原理,基于坐标变换原则,推导了在dq和αβ坐标系下的PMSLM数学方程。针对传统直线电机闭环驱动控制系统中位置传感器所带来的弊端,提出了基于无位置传感器控制技术的PMSLM动子位置估计矢量控制系统。在PMSLM无位置传感器控制系统中,由于在初始上电时缺少额外的位置传感器来检测直线电机的初始磁极位置,因此本文研究了PMSLM初始位置检测方法以及PMSLM在没有位置传感器时上电启动方法。其次,在非线性系统状态估计理论的基础上,研究了PMSLM的无位置传感器控制技术。根据Kalman滤波器工作原理,研究了其另外一种形式,即扩展卡尔曼滤波算法(EKF),并且深入研究了EKF算法的工作原理,同时推导了其递推计算公式。根据EKF算法的递推结构,建立了PMSLM的状态数学方程,同时在M MATLAB中搭建了基于EKF算法的PMSLM无位置传感器动子位置估计系统的仿真控制模型,仿真结果表明该算法能够准确的估计直线电机动子的实时运动位置,在宽位置范围内均能很好的跟踪直线电机的动子位置,具有良好的动态响应和鲁棒性。最后,搭建了实验硬件控制平台,结合半实物仿真控制系统AD5435对EKF动子位置估计算法进行了实验验证,通过实验结果对EKF估计器的精度进行了分析,结果表明该算法用于永磁同步直线电机的动子位置估计是可行的,具有较好的跟随性能。对PMSLM无位置传感器动子位置实时估计的研究在高速高精度直驱闭环控制系统领域中具有重要意义。
[Abstract]:The traditional drive and control mode of rotary motor combined with roller rod is a common strategy to produce linear motion in industrial control. Its control precision will be reduced because of the intermediate conversion mechanism, while the (PMSLM) of permanent magnet synchronous linear motor (PMSM) will be reduced because of its high thrust. The advantages of high acceleration, good dynamic response and high positioning accuracy are gradually used in high speed and high precision machining machine tools. In order to realize the accurate position control of PMSLM, it is very important to obtain accurate real time moving position of linear electric maneuvers. The closed loop control system of linear motor usually uses high resolution position sensor to detect the moving position of linear electric motor, such as grating ruler, magnetic grating ruler and so on. However, the position sensor requires a very high working environment and requires additional external auxiliary circuit modules to work properly. In addition, the requirements of the installation process are also very stringent. In view of a series of disadvantages brought by position sensor to the control system, the position sensorless control technology is applied to the direct drive control system of permanent magnet synchronous linear motor (PMSM). It overcomes the limitation of the position sensor to the linear motor closed-loop drive control system. In this paper, the sensorless control technology is studied to estimate the motion position of linear motor. Firstly, the working principle of PMSLM is briefly analyzed. Based on the principle of coordinate transformation, the mathematical equations of PMSLM in dq and 伪尾 coordinate systems are derived. Aiming at the disadvantages of position sensor in the traditional linear motor closed-loop drive control system, a position estimation vector control system for PMSLM mover based on sensorless control technology is proposed. In the PMSLM position sensorless control system, due to the lack of additional position sensors to detect the initial pole position of the linear motor, In this paper, the initial position detection method of PMSLM and the power-up method of PMSLM without position sensor are studied in this paper. Secondly, based on the state estimation theory of nonlinear systems, the position sensorless control technology of PMSLM is studied. According to the working principle of Kalman filter, this paper studies one of its other forms, the extended Kalman filter algorithm (EKF), and the working principle of EKF algorithm. At the same time, the recursive calculation formula is deduced. According to the recursive structure of EKF algorithm, the state mathematical equation of PMSLM is established. At the same time, the simulation control model of PMSLM sensorless position estimation system based on EKF algorithm is built in M MATLAB. The simulation results show that the proposed algorithm can accurately estimate the real-time motion position of the linear motor, and can track the moving position of the linear motor in a wide range of positions, and has good dynamic response and robustness. Finally, the hardware control platform of the experiment is built, and the position estimation algorithm of the EKF mover is verified by the hardware-in-the-loop simulation control system AD5435. The precision of the EKF estimator is analyzed by the experimental results. The results show that the proposed algorithm is feasible and has a good tracking performance for permanent magnet synchronous linear motors (PMSM). The research on the real-time position estimation of PMSLM sensorless movers is of great significance in the field of high speed and high precision direct drive closed-loop control system.
【学位授予单位】：安徽大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TM359.4

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