永磁同步电机伺服系统的滑模变结构控制研究

发布时间：2018-01-05 08:06

本文关键词：永磁同步电机伺服系统的滑模变结构控制研究　出处：《兰州交通大学》2014年硕士论文　论文类型：学位论文

【摘要】：伴随着现代工业科技的迅猛发展，交流伺服系统的应用日益广泛，采用先进控制策略的永磁同步电机伺服系统已经成为高性能伺服系统发展的热点方向。滑模变结构控制具有结构简单、对参数变化及外界扰动不敏感等优点。将滑模变结构与永磁同步电机相结合，应用滑模变结构控制的优良特性来提高伺服系统的性能，具有重要的实际价值和意义。论文首先建立永磁同步电机伺服系统的数学模型，深入研究永磁同步电机矢量控制方法，并在此基础上确定基于id=0转子磁场定向的永磁同步电机矢量控制方案。其次采用SVPWM(Space Vector Pulse Width Modulation,电压空间矢量)调制技术建立电流、转速、位置的三闭环控制的永磁同步电机伺服系统。最后，结合先进控制策略滑模变结构控制理论，以永磁同步电机矢量控制系统为研究对象分别在速度环、位置环设计出改进的滑模变结构控制器，并与PI控制器在系统运行的不同阶段分别作用，对系统的性能进行优化。其中，速度环应用滑模变结构指数趋近率控制方法，并对指数趋近率进行简化设计；位置环应用滑模变结构等效控制方法，并将其切换参数设计成与位置误差、滑模面积分有非线性关系的变量，进一步提高系统的动静态性能和鲁棒性。论文通过Matlab/Simulink及编程对系统进行仿真建模，模拟了传统PI控制、改进型滑模变结构控制永磁同步电机伺服系统的运行过程。仿真结果验证了改进的控制方法克服了传统PI控制理论设计时系统对参数变化及负载扰动敏感等问题；并证明了改进的滑模变结构控制方法对滑模固有抖振有明显的抑制作用，，且增强了永磁同步电机伺服系统的鲁棒性和动静态性能。
[Abstract]:With the rapid development of modern industrial technology, the application of AC servo system is widely used, permanent magnet synchronous motor servo system of advanced control strategy has become a hot direction in the development of high performance servo system. The sliding mode variable structure control has the advantages of simple structure, the parameter variations and disturbance sensitive. The sliding mode variable combination the structure of permanent magnet synchronous motor with excellent characteristics, the application of sliding mode variable structure control to improve the performance of the servo system, has important value and significance.
Firstly, establish the mathematical model of permanent magnet synchronous motor servo system, in-depth study of permanent magnet synchronous motor vector control method, and determined on the basis of permanent magnet synchronous motor vector control scheme of id=0 based on rotor flux orientation. Secondly, using SVPWM (Space Vector Pulse Width Modulation, voltage space vector modulation technology) to establish the current, speed, position the three closed-loop control of permanent magnet synchronous motor servo system. Finally, combining with the advanced control strategy of sliding mode variable structure control theory, permanent magnet synchronous motor vector control system as the research object in the speed loop, position loop is designed to improve the sliding mode variable structure controller, and PI controller in different stages of system operation respectively, the performance of the system was optimized. The speed loop using the sliding mode reaching rate control method, and the simplified design index reaching rate The position loop is applied to the sliding mode variable structure equivalent control method, and the switching parameters are designed into variables with nonlinear relationship between the location error and the sliding mode area. Further, the dynamic and static performance and robustness of the system are further improved.
The simulation model of the system through the Matlab/Simulink programming and simulation, the traditional PI control, the operation process of the improved sliding mode variable structure control of permanent magnet synchronous motor servo system. The simulation results verify the improved control method to overcome the traditional PI control theory to system parameter variations and load disturbances and other sensitive issues of design; and it is proved that the improved the sliding mode variable structure control method has obvious inhibitory effect on the inherent chattering of sliding mode, and enhances the PMSM servo system robustness and dynamic performance.

【学位授予单位】：兰州交通大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM341

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