基于自适应卡尔曼观测器的永磁同步电机系统速度控制

发布时间：2018-03-08 05:02

本文选题：永磁同步电机　切入点：速度预估　出处：《天津大学》2014年硕士论文　论文类型：学位论文

【摘要】：永磁同步电机(PMSM)具有结构简单、功率因数高、转矩电流比大等优点,在工业场所得到了广泛应用。在永磁同步电机系统矢量控制过程中,转子位置和转速信号是必不可少的反馈量,这些信息可以通过光电编码器、旋转变压器及位置速度观测算法得到。其中,绝对式编码器能够直接读取电机的转子位置,适合应用于永磁同步电机系统中。此外,在永磁同步电机系统控制过程中,测量转速作为反馈信号用于跟踪给定转速,因此,测量转速的质量必然会影响电机的运行性能。为此,本文主要围绕测量转速对电机运行性能的影响以及电机控制相关问题展开了一系列研究。首先本文详细地分析了绝对式编码器的测量机理,对传统测速方法的测速误差与时间延时进行了分析。其次,从理论角度分析了测速精度和时间延时对电机运行性能的影响。为解决传统测速方法所存在的测量精度低和延时时间长以及改善传统卡尔曼观测器的动态性能差的问题,本文提出了一种测量噪声自适应卡尔曼观测器,该观测器主要根据弥补绝对式编码器的测量误差和提高算法的动态跟踪性的思想所设计的。根据永磁同步电机数学模型设定观测器的参数值,使得该观测器可以用于观测电机转子位置、转速与负载转矩。在电机运行状态突变的情况下,本文提出的观测器实时计算当前的测量噪声,并对增益矩阵进行更新,以确保算法的准确性与及时性。此外,将卡尔曼观测器观测的信号作为永磁同步电机矢量系统中的速度反馈信号和负载补偿信号,构建永磁同步电机前馈-反馈控制系统,提高了电机系统的抗扰性能和转速跟踪性能。本文搭建永磁同步电机系统控制平台,并在该实验平台上进行了自适应卡尔曼观测器的实验验证。实验结果表明测速方法中的测量精度与时间延时会影响电机的运行性能;本文所设计的自适应卡尔曼观测器能够准确及时地观测电机转子位置、转速及负载转矩,将所观测的转速和负载转矩用于前馈-反馈控制中,可以提高永磁同步电机系统的动、静态性能。
[Abstract]:PMSM (permanent Magnet synchronous Motor) has been widely used in industry because of its simple structure, high power factor and high torque / current ratio. Rotor position and speed signals are essential feedback, which can be obtained by photoelectric encoders, rotary transformers and position and velocity observation algorithms, in which absolute encoders can directly read the rotor position of the motor. It is suitable for application in permanent magnet synchronous motor system. In addition, in the control process of permanent magnet synchronous motor system, the measuring speed is used as a feedback signal to track a given speed, so, The quality of measuring rotational speed will inevitably affect the performance of the motor. In this paper, a series of researches are carried out on the effect of measuring rotational speed on motor performance and motor control. Firstly, the measurement mechanism of absolute encoder is analyzed in detail. The error and time delay of traditional velocimetry methods are analyzed. Secondly, In order to solve the problems of low measurement precision and long delay time and improve the dynamic performance of traditional Kalman observer, the influence of speed measurement accuracy and time delay on motor performance is analyzed theoretically. In this paper, an adaptive Kalman observer for measuring noise is proposed. The observer is mainly designed according to the idea of compensating the measurement error of absolute encoder and improving the dynamic tracking performance of the algorithm. The parameters of the observer are set according to the mathematical model of permanent magnet synchronous motor (PMSM). The observer can be used to observe the rotor position, speed and load torque of the motor. In the case of the sudden change of the motor running state, the proposed observer can calculate the current measurement noise in real time and update the gain matrix. In order to ensure the accuracy and timeliness of the algorithm, the signal observed by the Kalman observer is regarded as the speed feedback signal and the load compensation signal in the PMSM vector system, and the feedforward and feedback control system of PMSM is constructed. The disturbance rejection performance and speed tracking performance of the motor system are improved. In this paper, a permanent magnet synchronous motor system control platform is built. The experimental results show that the measuring accuracy and time delay of the speed measurement method will affect the performance of the motor. The adaptive Kalman observer designed in this paper can accurately and timely observe the rotor position, speed and load torque of the motor. The observed speed and load torque can be used in feedforward feedback control to improve the movement of PMSM system. Static performance.
【学位授予单位】：天津大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM341

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