永磁同步电机交流伺服系统位置环控制策略研究与实现

发布时间：2018-12-13 23:21

【摘要】：高性能的位置伺服系统是自动化设备实现高精度生产加工的重要前提。永磁同步电机(PMSM)以其高动态性能、高效率和轻量化等优点,与飞速发展的电力电子技术和微电子控制技术相结合获得了优异的性能。基于永磁同步电机的交流位置伺服系统已成为电机伺服驱动系统的一个发展趋势。交流位置伺服系统通常为传统PID调节器控制的“三闭环”结构,对于PMSM这一非线性的控制对象,传统PID调节器控制难以获得较好的控制效果。模糊控制具有不依赖对象的数学模型、鲁棒性强的特点,很大程度上能够克服系统模型参数的变化和非线性等不确定因素的影响。模糊PID控制器既具有传统PID控制器的精度又有较强的抗干扰能力。鉴于模糊PI控制器的优点,本文将模糊PI控制器引入到交流位置伺服系统的位置环,仿真实验表明位置环采用模糊PI控制器可以实现精确的位置控制并且提高了系统定位的快速性。设计以STM32F103单片机为控制核心的交流位置伺服驱动系统的硬件电路,包括位置信号接收电路、逆变桥电路、电流采样电路等,并搭建起交流位置伺服驱动系统的硬件平台。在此硬件平台的基础上设计系统的软件,主要包括:上电初期完成电机起动,电流环、速度环和位置环的采样与控制以及SVPWM策略的实现等。最后将所设计的软件程序在硬件平台上进行测试,实验结果表明,位置环采用模糊PI控制器可实现较为精确的位置控制,并且相对于传统PI控制而言定位的快速性更好。
[Abstract]:High-performance position servo system is an important prerequisite for automatic equipment to achieve high-precision production and processing. PMSM (permanent Magnet synchronous Motor) (PMSM) has excellent performance combined with the rapid development of power electronics and microelectronic control technology because of its high dynamic performance, high efficiency and lightweight. Ac position servo system based on permanent magnet synchronous motor (PMSM) has become a developing trend of motor servo drive system. The AC position servo system is usually the "three closed loop" structure of the traditional PID regulator control. For the nonlinear control object of PMSM, the traditional PID regulator control is difficult to obtain better control effect. Fuzzy control has the characteristics of independent mathematical model, strong robustness, and can overcome the influence of uncertain factors, such as the variation of system model parameters and the nonlinearity to a great extent. Fuzzy PID controller not only has the precision of traditional PID controller, but also has strong anti-interference ability. In view of the advantages of fuzzy PI controller, the fuzzy PI controller is introduced into the position loop of AC position servo system. The simulation results show that the fuzzy PI controller can achieve accurate position control and improve the speed of positioning. The hardware circuit of AC position servo drive system based on STM32F103 microcontroller is designed, including position signal receiving circuit, inverter bridge circuit, current sampling circuit and so on, and the hardware platform of AC position servo drive system is built. On the basis of the hardware platform, the software of the system is designed, which includes: starting motor, sampling and controlling the current loop, speed loop and position loop, and the realization of SVPWM strategy. Finally, the software program is tested on the hardware platform. The experimental results show that the position loop with fuzzy PI controller can achieve more accurate position control, and compared with the traditional PI control, the positioning speed is better.
【学位授予单位】：西安理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TM921.541

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