永磁同步电机速度辨识方法的研究

发布时间：2018-03-05 15:31

本文选题：永磁同步电动机　切入点：速度辨识　出处：《华中科技大学》2015年硕士论文　论文类型：学位论文

【摘要】：随着电力电子技术的不断发展,永磁同步电机的伺服系统控制性能也得到大幅提升,并在工业控制领域有越来越多的应用。在永磁同步电机速度辨识这一领域,传统的方法是通过旋转光电编码器来进行测速,然而在电机转速较低时,获得的速度会存在较大的误差,这会严重影响伺服系统的控制性能。随着人们对电机反馈的速度精度要求越来越高,传统的通过光电编码器直接位置差分或者经过低通滤波的速度,已经不能满足越来越高的精度要求。针对这种情况,国际上的很多研究人员已经提出了速度观测器的概念来进行速度观测。速度观测器具有以下优点:精度高,可靠性好,实时性强。它基本能够满足工业上对速度的跟踪要求。但由于这种算法比较复杂,所以在工程中并没有太多的实际应用。然而近年来计算机技术突飞猛进,数字信号处理器的数据处理能力也越来越强,这为速度观测器的实际应用提供了可能。目前,速度观测器已在许多领域获得了良好的应用,随着速度观测器理论的发展,它必将大大提高交流伺服系统的整体控制性能。本文介绍了近年来出现的速度辨识方法,并分析了其优缺点,然后研究了永磁同步电动机的结构、数学建模以及它的控制和传感器技术,接着分析了通过光电编码器的反馈数据直接获得速度所带来的弊端,针对这个弊端,提出了Luenberger速度观测器和卡尔曼滤波器两种速度观测的方案,并对这两种速度观测器进行了分析和研究。然后在Matlab中对上述两种观测器进行了建模和仿真分析,发现Luenberger速度观测器和Kalman滤波器都能够较好的进行状态跟踪,改善系统的动态性能,提高系统的控制精度。最后,本文在仿真的基础上,通过永磁同步电机伺服驱动系统的硬件平台,对经过低通滤波的位置差分速度以及两种观测器的观测速度分别在高速和低速情况下进行了实验对比。实验表明,在高速时Luenberger速度观测器上升时间短,超调量小,改善了同步跟随运动控制系统扰动响应和信号响应性能;在低速时Luenberger速度观测器依然可以以较小的误差进行速度跟踪,相同条件下,卡尔曼滤波器精度更高,并可以在更低速进行较好的跟踪。
[Abstract]:With the continuous development of power electronics technology, the servo system control performance of PMSM has been greatly improved, and has more and more applications in the industrial control field. The traditional method is to measure the speed by rotating the photoelectric encoder. However, when the speed of the motor is low, there will be a large error in the speed obtained. This will seriously affect the control performance of the servo system. As the speed accuracy of the motor feedback becomes higher and higher, the traditional speed through the photoelectric encoder direct position difference or through low-pass filtering speed, The speed observer has the following advantages: high precision, good reliability, high accuracy, and good reliability, because of this situation, many researchers in the world have put forward the concept of speed observer for speed observation. It can basically meet the requirements of speed tracking in industry. But because of the complexity of this algorithm, it does not have many practical applications in engineering. However, in recent years, computer technology has developed by leaps and bounds. The data processing ability of digital signal processor (DSP) is becoming stronger and stronger, which provides the possibility for the practical application of speed observer. At present, speed observer has been applied well in many fields, and with the development of speed observer theory, It will greatly improve the overall control performance of AC servo system. This paper introduces the speed identification methods which have appeared in recent years, analyzes their advantages and disadvantages, and then studies the structure of permanent magnet synchronous motor (PMSM). Mathematical modeling, its control and sensor technology, and then analyzes the disadvantages of obtaining speed directly through feedback data of photoelectric encoder, aiming at this drawback. In this paper, two methods of Luenberger speed observer and Kalman filter are proposed, and the two kinds of speed observer are analyzed and studied. Then, the two kinds of observers are modeled and simulated in Matlab. It is found that both the Luenberger speed observer and the Kalman filter can track the state, improve the dynamic performance of the system and improve the control accuracy of the system. Based on the hardware platform of PMSM servo drive system, the low pass filtered position differential velocity and the observation speed of the two observers are compared at high speed and low speed, respectively. At high speed, the Luenberger speed observer has the advantages of short rise time and small overshoot, which improves the disturbance response and signal response of the synchronous following motion control system, and the Luenberger speed observer can still track the speed with small error at low speed. Under the same conditions, the Kalman filter is more accurate and can be tracked at lower speed.
【学位授予单位】：华中科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TM341

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