基于LADRC的PMSM伺服系统研究
发布时间：2019-03-12 13:50
【摘要】：永磁同步电机(Permanent Magnet Synchronous Motor,PMSM)以其高功率密度、高转矩/惯量比、高效率和易维护等优点,在航空航天、雷达、数控机床和机器人等伺服应用场合取得了广泛的应用。传统的PMSM伺服系统大多采用PI控制器。而PMSM本身是一个多变量、强耦合、非线性的的控制对象,传统的PI控制器很难满足伺服系统的高性能需求。为此,本文从以下三个方面研究了线性自抗扰控制器(LADRC)在PMSM伺服系统的应用。(1)为了提高永磁同步电机(PMSM)调速系统的抗扰动和噪声抑制能力,对PMSM转速环设计了三种LADRC,即传统线性自抗扰控制器(TLADRC)、高阶线性自抗扰控制器(HLADRC)和降维线性自抗扰控制器(RLADRC)。各LADRC的区别在于线性扩张状态观测器(LESO)的不同,即传统线性扩张状态观测器(TLESO)、高阶线性扩张状态观测器(HLESO)和降维线性扩张状态观测器(RLESO)。采用叠加原理对各LADRC控制转速环的稳定性进行了证明,同时还对各LESO的收敛条件进行了分析。再通过对各LESO的频域分析,结合对各LADRC控制的转速环进行仿真,对比了三种不同LADRC控制下,PMSM调速系统的扰动抑制能力与噪声抑制能力。所得出的结论可为LADRC应用中LESO的选取提供有力的支持,为PMSM调速系统的优化设计提供了理论依据。(2)传统的位置伺服系统设计大多按照串级控制来实现,即由内到外分别是电流环、速度环和位置环。但是,这必然要求三个传感器分别对电流、速度和位置进行测量,传感器的增加不仅增加了经济成本,也会引入较多的噪声,虽然也可以不采用速度传感器,而是直接对位置进行差分,但是这会带来相应的问题:因为位置是滞后速度90°的,通过对位置进行差分必然带来速度的滞后;差分会放大传感器噪声。为此,本章提出了位置伺服系统一体化设计方案,即保留电流环,并把速度环和位置环视为一个二阶系统,对其进行三阶LADRC的设计。为了实现数字化控制,对LADRC进行了零阶保持采样方式的离散化设计。另外,本文还对位置伺服系统跟踪连续时变信号的所产生的误差原因进行了分析,并提出了通过增加微分前馈来解决该问题。(3)为了抑制永磁同步电机(PMSM)带柔性负载伺服系统的机械谐振,设计了两种电机侧速度反馈的LADRC,即LADRC1和LADRC2。通过对两种LADRC进行数学推导,得到了二自由度的LADRC闭环控制系统形式,以此为基础,分别得到了扰动和噪声到系统输出的传递函数,并进行了频域分析,而后的时域仿真分析验证了频域分析的结论。所得的结论为PMSM带柔性负载伺服系统的控制器选择提供了理论依据。
[Abstract]:Permanent magnet synchronous motor (Permanent Magnet Synchronous Motor,PMSM) has been widely used in aerospace radar CNC machine and robot servo applications because of its high power density high torque / inertia ratio high efficiency and easy maintenance. The traditional PMSM servo system mostly uses PI controller. PMSM itself is a multi-variable, strong coupling, nonlinear control object, the traditional PI controller is difficult to meet the high-performance requirements of servo systems. In this paper, the application of linear auto-disturbance rejection controller (LADRC) in PMSM servo system is studied in three aspects. (1) in order to improve the anti-disturbance and noise suppression ability of (PMSM) speed regulation system of permanent magnet synchronous motor (PMSM), Three kinds of LADRC, (traditional linear ADRC (TLADRC),) and reduced dimension linear ADRC controller (RLADRC). (reduced dimension linear ADRC) are designed for PMSM speed loop, namely, high order linear ADRC (HLADRC) and reduced dimension linear ADRC (RLADRC). The difference of each LADRC lies in the difference of the linear extended state observer (LESO), that is, the traditional linear extended state observer (TLESO), the higher order linear extended state observer (HLESO), and the reduced dimension linear extended state observer (RLESO). The stability of each LADRC control speed loop is proved by the superposition principle, and the convergence conditions of each LESO are also analyzed. Through the frequency domain analysis of each LESO and the simulation of the rotational speed loop controlled by each LADRC, the disturbance and noise suppression abilities of the PMSM speed regulation system under three different LADRC control are compared. The conclusions can provide powerful support for the selection of LESO in LADRC application, and provide the theoretical basis for the optimization design of PMSM speed regulation system. (2) the traditional position servo system design is mostly realized by cascade control. That is, from inside to outside are current loop, velocity loop and position loop. However, this necessarily requires the three sensors to measure the current, speed and position separately. The increase of the sensor not only increases the economic cost, but also introduces more noise, although the speed sensor can also be used without the use of the speed sensor. But directly to the position difference, but this will lead to the corresponding problems: because the position is 90 掳lag speed, through the position of the difference will inevitably lead to the lag of the speed; Differential amplification sensor noise. Therefore, the integrated design scheme of position servo system is presented in this chapter, that is, the current loop is reserved, and the speed loop and position loop are regarded as a second-order system, and the third-order LADRC is designed for them. In order to realize digital control, the discrete design of zero-order holding sampling mode for LADRC is carried out. In addition, the error reason of tracking continuous time-varying signal by position servo system is also analyzed in this paper. The problem is solved by adding differential feedforward. (3) in order to suppress the mechanical resonance of permanent magnet synchronous motor (PMSM) (PMSM) with flexible load servo system, two kinds of side velocity feedback LADRC, of PMSM, namely LADRC1 and LADRC2., are designed. Through mathematical derivation of two kinds of LADRC, the form of two-degree-of-freedom closed-loop LADRC control system is obtained. Based on this, the transfer functions of disturbance and noise to the output of the system are obtained, and the frequency domain analysis is carried out. The conclusion of the frequency domain analysis is verified by the time domain simulation analysis. The conclusion provides a theoretical basis for the controller selection of PMSM servo system with flexible load.
【学位授予单位】：西南石油大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TM341
本文编号：2438839
[Abstract]:Permanent magnet synchronous motor (Permanent Magnet Synchronous Motor,PMSM) has been widely used in aerospace radar CNC machine and robot servo applications because of its high power density high torque / inertia ratio high efficiency and easy maintenance. The traditional PMSM servo system mostly uses PI controller. PMSM itself is a multi-variable, strong coupling, nonlinear control object, the traditional PI controller is difficult to meet the high-performance requirements of servo systems. In this paper, the application of linear auto-disturbance rejection controller (LADRC) in PMSM servo system is studied in three aspects. (1) in order to improve the anti-disturbance and noise suppression ability of (PMSM) speed regulation system of permanent magnet synchronous motor (PMSM), Three kinds of LADRC, (traditional linear ADRC (TLADRC),) and reduced dimension linear ADRC controller (RLADRC). (reduced dimension linear ADRC) are designed for PMSM speed loop, namely, high order linear ADRC (HLADRC) and reduced dimension linear ADRC (RLADRC). The difference of each LADRC lies in the difference of the linear extended state observer (LESO), that is, the traditional linear extended state observer (TLESO), the higher order linear extended state observer (HLESO), and the reduced dimension linear extended state observer (RLESO). The stability of each LADRC control speed loop is proved by the superposition principle, and the convergence conditions of each LESO are also analyzed. Through the frequency domain analysis of each LESO and the simulation of the rotational speed loop controlled by each LADRC, the disturbance and noise suppression abilities of the PMSM speed regulation system under three different LADRC control are compared. The conclusions can provide powerful support for the selection of LESO in LADRC application, and provide the theoretical basis for the optimization design of PMSM speed regulation system. (2) the traditional position servo system design is mostly realized by cascade control. That is, from inside to outside are current loop, velocity loop and position loop. However, this necessarily requires the three sensors to measure the current, speed and position separately. The increase of the sensor not only increases the economic cost, but also introduces more noise, although the speed sensor can also be used without the use of the speed sensor. But directly to the position difference, but this will lead to the corresponding problems: because the position is 90 掳lag speed, through the position of the difference will inevitably lead to the lag of the speed; Differential amplification sensor noise. Therefore, the integrated design scheme of position servo system is presented in this chapter, that is, the current loop is reserved, and the speed loop and position loop are regarded as a second-order system, and the third-order LADRC is designed for them. In order to realize digital control, the discrete design of zero-order holding sampling mode for LADRC is carried out. In addition, the error reason of tracking continuous time-varying signal by position servo system is also analyzed in this paper. The problem is solved by adding differential feedforward. (3) in order to suppress the mechanical resonance of permanent magnet synchronous motor (PMSM) (PMSM) with flexible load servo system, two kinds of side velocity feedback LADRC, of PMSM, namely LADRC1 and LADRC2., are designed. Through mathematical derivation of two kinds of LADRC, the form of two-degree-of-freedom closed-loop LADRC control system is obtained. Based on this, the transfer functions of disturbance and noise to the output of the system are obtained, and the frequency domain analysis is carried out. The conclusion of the frequency domain analysis is verified by the time domain simulation analysis. The conclusion provides a theoretical basis for the controller selection of PMSM servo system with flexible load.
【学位授予单位】：西南石油大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TM341
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