基于自抗扰控制的永磁同步电动机伺服系统的研究

发布时间：2018-12-11 19:12

【摘要】：伺服系统是先进数控机床和工业机器人的核心部件之一,随着电力电子技术、现代控制技术以及数字信号处理技术的发展,交流伺服系统在很多领域已经慢慢地取代了直流伺服系统。永磁同步电机以其高效率、高功率因数、价格适中等优点,被广泛地应用于伺服系统中。本文研究了一种以自抗扰控制技术为核心的永磁同步电机伺服系统,用新型的控制方法代替了传统的PID控制方法,能充分提高伺服系统的精度以及抗干扰能力。永磁同步电机是一个复杂的机电混合系统,对控制系统具有较高的要求,而自抗扰控制是一种新型的控制技术,它由跟踪微分器、扩张状态观测器以及非线性误差反馈控制律组成,它结合了经典PID控制器以及现代控制理论的设计方法,非常适合用于伺服系统的控制。本文研究了自抗扰控制器的特性,自抗扰控制器的线性化方法及其参数配置过程,减少了自抗扰控制器参数的个数及简化整定过程,研究了利用系统模型信息的自抗扰控制器,并进行仿真验证。通过深入研究永磁同步电机数学模型,找到了系统存在扰动的原因,并将自抗扰控制器引入到永磁同步电机伺服系统中,根据永磁同步电机的数学模型,把系统的不确定项扩张为新状态,通过扩张状态观测器对扰动实时观测并对扰动进行补偿。在此基础上结合矢量控制设计了伺服系统的电流环,速度环和位置环控制器,并在Matlab/Simulink中对系统的各个模块进行建模,完成了伺服控制系统的整体仿真,验证了控制策略的有效性。最后,设计了基于STM32处理器以及智能功率器件的伺服系统并设计了系统的驱动电路,电流检测电路,转子位置检测电路等硬件电路,并在分析了系统总体需求的基础上,对系统软件部分进行了设计调试。
[Abstract]:Servo system is one of the core components of advanced NC machine tools and industrial robots. With the development of power electronics technology, modern control technology and digital signal processing technology, Ac servo system has gradually replaced DC servo system in many fields. Permanent magnet synchronous motor (PMSM) is widely used in servo system because of its high efficiency, high power factor and moderate price. In this paper, a permanent magnet synchronous motor servo system with active disturbance rejection control technology as the core is studied. The traditional PID control method is replaced by a new control method, which can fully improve the precision and anti-interference ability of the servo system. Permanent magnet synchronous motor (PMSM) is a complex electromechanical hybrid system, which has high requirements for control system. Active disturbance rejection control (ADRC) is a new control technology. The extended state observer and the nonlinear error feedback control law are combined with the classical PID controller and the modern control theory. It is very suitable for servo system control. In this paper, the characteristics of the ADRC, the linearization method of the ADRC and its parameter configuration process are studied, the number of the parameters of the ADRC is reduced and the tuning process is simplified, and the ADRC using the system model information is studied. And the simulation is carried out. By studying the mathematical model of permanent magnet synchronous motor (PMSM), the cause of disturbance is found, and the active disturbance rejection controller is introduced into PMSM servo system. According to the mathematical model of PMSM, the disturbance rejection controller is introduced into the PMSM servo system. The uncertainty of the system is extended to a new state, and the disturbance is observed and compensated by the extended state observer. Based on this, the current loop, speed loop and position loop controller of servo system are designed combined with vector control, and each module of the system is modeled in Matlab/Simulink, and the whole simulation of servo control system is completed. The effectiveness of the control strategy is verified. Finally, the servo system based on STM32 processor and intelligent power device is designed, and the drive circuit, current detection circuit, rotor position detection circuit and other hardware circuits are designed. The system software is designed and debugged.
【学位授予单位】：天津理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TM341;TM921.541

【相似文献】