基于自适应观测器的永磁直线同步电机滑模变结构控制研究

发布时间：2018-01-08 15:29

本文关键词：基于自适应观测器的永磁直线同步电机滑模变结构控制研究　出处：《兰州理工大学》2014年硕士论文　论文类型：学位论文

【摘要】：永磁直线同步电机在直线驱动中具有诸多优势,在高精度的直线驱动设备中应用广泛。直线电机自身的特殊结构会引起边端效应,永磁直线同步电机中存在较为复杂的推力扰动,传统电机控制方法很难达到预期效果。本文从直线电机与旋转电机的内在联系出发,系统地分析了永磁直线同步电机在旋转坐标系中的数学模型,获得磁路不对称引起的电磁推力扰动特性。基于此在Simulink平台建立了较为准确的永磁直线同步电机模型并进行了仿真验证,为后续研究提供一个可靠且准确的对象。永磁直线同步电机矢量控制中仍存在电磁推力波动,针对这一问题,本文采用直接推力控制,并设计了速度滑模变结构控制器,同时引入负载扰动前馈对滑模控制的抖振进行抑制。建立了永磁直线同步电机滑模变结构直接推力控制仿真系统,对速度PI调节器与滑模变结构控制器仿真结果进行了比较,滑模变结构控制器能更好地抑制永磁直线同步电机的扰动。永磁直线同步电机的数学模型比较复杂,传统的观测器模型不再适用。同时直接推力控制对观测器观测结果的准确性要求比较高,尤其在低速段,以线性模型为基础的观测器不再适用于非线性度较高的永磁直线同步电机。本文用推力磁链等效电机理想模型中的直轴磁链,简化了永磁直线同步电机数学模型。在简化的数学模型基础上,设计了推力磁链自适应观测器,从而解决了交直轴电感不相等引起的初级磁链和电磁推力观测误差。同时,在自适应观测器中引入初级电阻自适应律,减小了低速段由电机参数变化引起的初级磁链观测误差。建立了推力磁链自适应观测器仿真系统,对初级磁链和电磁推力的观测效果进行了仿真,验证了推力磁链自适应观测器的有效性。最后,设计了基于自适应观测器的永磁直线同步电机滑模变结构控制系统,结合预测电压控制建立了系统仿真模型。对整个控制系统的稳态和动态性能进行了仿真分析,同时分析了其低速性能和鲁棒性。
[Abstract]:Permanent magnet linear synchronous motor has many advantages in linear drive, in line with high precision drive widely used equipment. The special structure of the linear motor itself will cause the edge effect, complex thrust disturbance of permanent magnet linear synchronous motor, the traditional motor control method is difficult to achieve the desired effect.
This article from the internal relation of linear motor and rotary motor starting, systematic analysis of the permanent magnet linear synchronous motor in rotating coordinate system mathematical model, the electromagnetic force caused by the asymmetry of the obtained magnetic disturbance characteristics. The synchronous motor is established on the Simulink platform more accurate permanent magnet direct line model and Simulation Based Verification, provide a reliable and accurate object for subsequent research. The permanent magnet linear synchronous motor vector control still exist in the electromagnetic force fluctuation, aiming at this problem, this paper adopts direct thrust control, and design speed of sliding mode variable structure controller, while the introduction of load disturbance feedforward to suppress the chattering of the sliding mode control. The direct thrust the structure of the simulation control system of permanent magnet linear synchronous motor based on sliding mode, the PI speed controller and sliding mode variable structure controller simulation results were compared with the sliding mode variable structure control The system can better suppress the disturbance of permanent magnet linear synchronous motor.
Mathematical model of permanent magnet linear synchronous motor is more complex, the traditional observer model is no longer applicable. At the same time, the direct thrust control accuracy of the observation results of the observer requirements are relatively high, especially in the low speed, permanent magnet linear synchronous motor on the basis of the linear model is no longer applicable to the observer with high nonlinearity. With straight shaft thrust equivalent flux flux in this paper the ideal motor model, the simplified mathematical model of permanent magnet linear synchronous motor. The mathematical model based on simplified design, thrust flux adaptive observer, thus solving the d-axis and q-axis inductance is not equal caused by primary flux and electromagnetic thrust observation error. At the same time, the introduction of primary resistance adaptive law in adaptive observer, reduce the low speed caused by the change of motor parameters of the primary flux observation error. The thrust flux adaptive observer simulation system for primary The observation effect of the magnetic chain and the electromagnetic thrust is simulated, and the validity of the thrust magnetic chain adaptive observer is verified.
Finally, the design of the adaptive observer for permanent magnet linear synchronous motor based on sliding mode variable structure control system, combined with the predictive voltage control system simulation model was established. The steady and dynamic performance of the whole control system is simulated and analyzed, and analyses the low-speed performance and robustness.

【学位授予单位】：兰州理工大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM341

【参考文献】