基于SMO的永磁同步电机无传感器控制研究

发布时间：2018-01-13 03:25

本文关键词：基于SMO的永磁同步电机无传感器控制研究　出处：《中国矿业大学》2015年硕士论文　论文类型：学位论文

【摘要】：永磁同步电机(PMSM)相较直流电机、异步电机、电励磁同步电机等常见电机具有体积小、功率密度及效率高等优点,在伺服控制系统中扮演着越来越重要的角色。无传感器控制系统相较有位置系统具有独特的优点,近年来成为学者研究的热点,其控制的难点在于转子初始角度估测、低速区转速和转子位置的估计。本文构建了一套以滑模观测器为核心的无速度传感器矢量控制系统,对上述问题提出解决方法,讨论了无速度控制系统中的一些问题。主要有如下几个方面:推导了永磁同步电机在静止和同步旋转这两种坐标系下的数学模型,在此基础上构建了永磁同步电机的常规矢量控制系统,并研究分析了电压前馈电流补偿的矢量控制方法,搭建了仿真模型。阐述了滑模观测器的基本原理,在此基础上构建了永磁同步电机在静止坐标系下的滑模观测器,并将其类推到了同步旋转坐标系下,并对其进行了MATLAB/Simulink仿真分析验证,构建的同步旋转坐标系下的滑模观测器能很好地估测转速和转子位置。然后,给出了静止坐标系和同步旋转坐标系下选择的判断依据。分析了滑模观测器的“抖动”,对传统滑模观测器进行了改进。将传统滑模的符号函数用Sigmoid取代;将传统固定截止频率的低通滤波器改造为变截止频率的低通滤波器,以使补偿角度变为定值,减轻控制器查表时间开销;对估测滤波后的反电动势进行二次卡尔曼滤波;将反正切提取转子角度的方法用锁相环取代。这些改进方法能有效减小估测转速和转子位置的“抖动”。设计开发了一套以DSP28335及旋风2系列FPGA为核心的控制系统。分析了系统的控制板、功率板、采集板构建中的问题。分析了三电阻法采样中的电流采样问题,探讨了电流采样时刻确定的问题。开发了一套人机交互触摸屏系统及完成永磁同步电机无传感器控制的软件系统。最后在开发平台上进行了相关实验,完成了基于滑模观测器的无位置传感器调速系统设计。
[Abstract]:Permanent magnet synchronous motor (PMSM) compared with DC motor, induction motor, electric motor and other common excitation synchronous motor has the advantages of small volume, power density and high efficiency, plays an increasingly important role in the servo control system. Sensorless control system with position system has unique advantages, in recent years become the focus of scholars the research, its control is difficult to estimate the initial rotor angle, low velocity zone speed and rotor position estimation. This paper constructs a set of the sliding mode observer as the core of the speed sensorless vector control system, proposes the solutions to the problems, discusses some problems of speed control system. The main are as follows mathematical model in stationary and synchronous rotation of the two coordinates of the permanent magnet synchronous motor is derived, based on the conventional vector control system of permanent magnet synchronous motor The research and analysis, the vector voltage feedforward current compensation control method, simulation model is built. Describes the basic principle of sliding mode observer, based on permanent magnet synchronous motor in the stationary coordinate sliding mode observer, and the analogy to the synchronous rotating coordinate system, and has carried on the MATLAB/Simulink simulation results show that the sliding mode observer of the synchronous rotating coordinate system can well estimate the rotor position and speed. Then, given the judgement on the basis of static coordinate and synchronous rotating coordinate selection. Analysis of the sliding mode observer "jitter", the traditional sliding mode observer is improved. The symbolic function of traditional sliding mode the Sigmoid is used to replace the low-pass filter; the transformation of traditional fixed cut-off frequency of the low-pass filter variable cut-off frequency, so that the compensation angle to a fixed value, reduce the look-up table when controller The overhead of back EMF; two Calman filter estimation after filtering; the arctangent replaced by phase-locked loop method of rotor angle extraction. The improved method can effectively reduce the estimation of the rotor position and speed of the "jitter". Designed and developed a set of DSP28335 control system and the cyclone 2 series FPGA as the core analysis of the control board, power board system, the problems in the construction of the acquisition board. Analysis of the current three resistance sampling method in sampling problem, discusses the problem of determining the current sampling time. To develop a set of interactive touch screen system and software system of permanent magnet synchronous motor without sensor control. At the end of the experiments in the development platform, completed the design of sensorless control system based on sliding mode observer.

【学位授予单位】：中国矿业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TM341

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