永磁同步电机伺服系统的自适应模糊滑模控制研究

发布时间：2018-01-15 16:15

本文关键词：永磁同步电机伺服系统的自适应模糊滑模控制研究　出处：《哈尔滨工业大学》2014年硕士论文　论文类型：学位论文

【摘要】：在永磁同步电机伺服系统的控制策略中，单一的控制方法难以达到理想的控制效果。因此，将各种控制算法相互融合就成为了当前研究的重点。滑模控制存在固有的抖振问题，且抖振和鲁棒性这两项性能无法同时满足要求。自适应模糊系统给解决滑模控制存在的这一不足提供了一种有效的方法。对自适应模糊滑模控制的研究，目前大都处于理论研究与仿真阶段，实际的应用较少。为了推进自适应模糊滑模控制的实用性，本文对自适应模糊滑模控制算法及其在伺服控制中的应用进行了研究。研究结果表明，本文提出的方法在兼顾鲁棒性和抖振这两项性能方面取得了很大进展。首先，本文分析了滑模控制无法兼顾抖振和鲁棒性的原因。基于自适应模糊控制系统的基本原理，采用模糊基函数形式的模糊系统代替滑模控制律中的未知函数和不确定项，根据Lyapunov稳定理论设计自适应律实现模糊规则参数的在线调整，提出一种自适应模糊滑模控制器，解决了滑模控制无法兼顾抖振和鲁棒性的问题。其次，为简化自适应模糊滑模控制器的设计，使其更便于应用，提出一种改进的自适应模糊滑模控制器。此控制器由模糊控制和切换控制组成，分别用来近似理想的等效控制、补偿近似误差，同时为了消除对近似误差界的需要，提出了自适应的误差估计机制来实时改变近似误差界，此改进的控制器分为可调参数为线性和非线性两种情况。最后，在MATLAB/Simulink环境下建立PMSM伺服控制系统仿真模型，进行仿真研究；构建基于AD5435的半实物仿真实验平台，完成实验验证。通过仿真和实验结果的比较分析表明：自适应模糊控制策略克服了滑模控制的不足，对于系统参数变化和负载扰动具有更好的鲁棒性，明显地削弱了抖振，动态特性更优；提出的改进措施使控制器结构和设计更简单，同时保持了良好的控制性能。
[Abstract]:In the control strategy of PMSM servo system, a single control method is difficult to achieve ideal control effect. Fusion of various control algorithms has become the focus of current research. Sliding mode control has inherent buffeting problem. And buffeting and robustness can not meet the requirements at the same time. Adaptive fuzzy system provides an effective method to solve the shortcomings of sliding mode control. The study of adaptive fuzzy sliding mode control. At present, most of them are in the stage of theoretical research and simulation, but there are few practical applications. In order to promote the practicability of adaptive fuzzy sliding mode control. In this paper, the adaptive fuzzy sliding mode control algorithm and its application in servo control are studied. The results show that the proposed method has made great progress in both robustness and buffeting. Firstly, this paper analyzes the reason why sliding mode control can not take buffeting and robustness into account, based on the basic principle of adaptive fuzzy control system. The fuzzy system in the form of fuzzy basis function is used to replace the unknown functions and uncertainties in the sliding mode control law. According to the Lyapunov stability theory, an adaptive law is designed to adjust the parameters of fuzzy rules online. An adaptive fuzzy sliding mode controller is proposed, which solves the problem that the sliding mode control can not balance buffeting and robustness. Secondly, in order to simplify the design of adaptive fuzzy sliding mode controller and make it more convenient for application, an improved adaptive fuzzy sliding mode controller is proposed, which is composed of fuzzy control and switching control. In order to eliminate the need of approximate error bounds, an adaptive error estimation mechanism is proposed to change the approximate error bounds in real time. The improved controller can be divided into two cases: linear and nonlinear. Finally, the simulation model of PMSM servo control system is established under the environment of MATLAB/Simulink, and the simulation research is carried out. A hardware-in-the-loop simulation experiment platform based on AD5435 is constructed to complete the experimental verification. The comparison and analysis of simulation and experimental results show that the adaptive fuzzy control strategy overcomes the shortcomings of sliding mode control. It has better robustness to system parameter change and load disturbance, obviously weakens buffeting, and has better dynamic characteristic. The proposed improvement measures make the controller structure and design simpler, while maintaining good control performance.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM341

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