基于扩展卡尔曼滤波无位置传感器永磁同步电机控制系统的研究

发布时间：2018-10-29 15:53

【摘要】：永磁同步电机(PMSM)以其体积小、重量轻、价格低廉、效率高等独有优势在交流调速系统中占据了十分重要的地位。在电机的实际运行过程中,对于所有控制算法,转子速度和位置都是必要信息,该信息一般通过安装位置传感器获取。而高性能、高精度的位置传感器增加了使用成本,且因为要求的使用环境过于严格,限制了永磁同步电机进一步的广泛使用。本文论述了一种基于扩展卡尔曼滤波无位置传感器永磁同步电机的控制方法,对其进行了详细分析。首先,在对永磁同步电机数学模型分析的基础上,结合矢量控制和空间矢量脉宽调制技术(SVPWM),建立了基于转子磁场定向的永磁同步电机矢量控制系统。运用一种新的方法设计PI调节器的参数,并在MATLAB的SIMULINK环境下仿真,仿真结果表明该方法设计的控制系统可以获得良好的性能。重新搭建系统仿真模型,论证了SVPWM算法的原理。其次,分析卡尔曼滤波理论的基本原理,重点是状态方程的最优估计以及非线性系统的线性化。将扩展卡尔曼滤波(EKF)算法运用在永磁同步电机控制系统中,推导出永磁同步电机在两相静止坐标系下的EKF方程。在MATLAB的SIMULINK仿真环境下建模,分析转子位置和转速变化曲线,结果表明使用EKF算法设计的控制系统具有较好的转速和位置跟踪性能。分析负载变化和EKF算法中协方差矩阵系数变化时对控制系统性能的影响,并给出协方差矩阵的设计规则。最后,以TI公司的TMS320F28335型号DSP芯片为核心,设计了控制系统软、硬件结构和主要功能模块的原理及其实现方法。硬件部分设计了控制系统的控制电路和其他辅助电路,软件部分编写系统的主程序、中断子程序和各个部分的软件实现程序,并在实验平台上完成了系统的调试。
[Abstract]:Permanent magnet synchronous motor (PMSM) (PMSM) occupies a very important position in AC speed regulation system because of its unique advantages such as small size, light weight, low price and high efficiency. In the actual operation of the motor, the speed and position of the rotor are necessary information for all control algorithms, which is usually obtained by installing the position sensor. The high performance and high precision position sensor increases the cost of use and restricts the extensive use of PMSM because of the strict use environment. In this paper, a control method of sensorless permanent magnet synchronous motor based on extended Kalman filter is presented and analyzed in detail. Firstly, on the basis of analyzing the mathematical model of PMSM, the vector control system of PMSM based on rotor flux orientation is established by combining vector control and space vector pulse width modulation (SVPWM),) technology. The parameters of PI regulator are designed by a new method and simulated in MATLAB SIMULINK environment. The simulation results show that the control system designed by this method can achieve good performance. The principle of SVPWM algorithm is demonstrated by reconstructing the system simulation model. Secondly, the basic principle of Kalman filtering theory is analyzed. The emphasis is on the optimal estimation of state equations and linearization of nonlinear systems. The extended Kalman filter (EKF) algorithm is applied to the permanent magnet synchronous motor (PMSM) control system, and the EKF equation of PMSM in two-phase stationary coordinate system is derived. In the SIMULINK simulation environment of MATLAB, the changing curves of rotor position and speed are analyzed. The results show that the control system designed by EKF algorithm has better speed and position tracking performance. The influence of load variation and covariance matrix coefficient variation in EKF algorithm on the control system performance is analyzed, and the design rules of covariance matrix are given. Finally, the principle and realization method of control system software, hardware structure and main function module are designed based on TMS320F28335 DSP chip of TI Company. The hardware part designs the control circuit and other auxiliary circuits of the control system, the software part writes the main program of the system, interrupts the subroutine and the software realization program of each part, and completes the debugging of the system on the experimental platform.
【学位授予单位】：深圳大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TM341;TP273

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