永磁同步电机控制策略及算法融合研究

发布时间：2018-03-14 07:52

本文选题：永磁同步电动机　切入点：按转子磁链定向的矢量控制　出处：《中国科学院研究生院（光电技术研究所）》2014年博士论文　论文类型：学位论文

【摘要】：随着电力电子技术、微型计算机技术、稀土永磁材料学科、自动控制理论、智能控制理论等理论和技术的快速发展，高效能、高功率密度的永磁同步电动机正广泛应用于工业、航空航天、国防军事等领域的运动控制系统中，以永磁同步电动机为执行机构的全数字永磁同步伺服系统正在逐步取代直流电动机、步进电动机运动系统而成为伺服驱动系统的发展方向。然而，由于永磁同步伺服系统受电机多变量耦合性和参数变化、外部负载扰动、恶劣环境等因素的影响，要获得高性能、宽调速范围的永磁同步伺服系统，必须对永磁同步电动机的模型进行深入的分析，研究先进的控制策略与控制手段，使系统具有较强的环境适应性和抗扰动能力。本论文的主要工作就是围绕高性能的全数字永磁同步伺服系统控制策略的研究而展开的，论文的主要内容如下：对正弦波永磁同步电动机的电磁过程、矩角特性进行了分析，建立了三种坐标系下的定子磁链方程、电压方程和电磁转矩方程，为控制策略的分析提供了理论铺垫。目前，正弦波永磁同步电动机伺服控制系统主流的控制策略有按转子磁链定向的矢量控制策略和按定子磁链定向直接转矩控制策略。系统地分析了永磁同步电动机按转子磁链定向的矢量控制策略的基本原理和实现方法，搭建了id=0的矢量控制策略的仿真模型，并对电流环和转速环的PI调节器参数进行了整定，特别解析了电流环带宽和调节器参数的关系。分析了初始零位偏差对转速环性能影响，，利用劳斯判据对存在初始零位偏差的转速环的稳定性进行了判定，仿真和实验结果表明，随着初始零位偏差的增大，转速环的响应性能和抗扰性能将会变差。在总结常用的限幅策略的基础上提出了一种新的限幅方法，理论分析了证明了该方法的有效性和优良性。对按定子磁链定向的直接转矩控制策略进行了原理性的分析，在常规的直接转矩控制方案的基础上对定子磁链幅值的给定机制进行了改良，仿真表明，这种新的定子磁链幅值给定机制使得电磁转矩的阶跃响应性能达到最优。分析比较了按转子磁链定向的矢量控制和按定子磁链定向的直接转矩控制两种方案的控制结构上的异同点和电磁转矩环的阶跃响应性能，融合二者的优点，研究了按定子磁链定向的电压空间矢量脉宽调制技术的控制算法，仿真和实验验证了该方法的有效性和阶跃响应的优越性。最后搭建了全数字永磁同步电动机伺服控制系统的硬件平台并在硬件平台上实现了矢量控制算法、直接转矩控制算法及融合算法。实验结果也在一定程度上验证了三种控制算法的优缺点。设计了21位双通道旋转变压器解码作为全数字永磁同步电动机的伺服控制系统的反馈通道。实验中搭建测试平台，用自准直仪和多面棱镜对该测角系统精度进行测量。结果表明，测角误差均方根值达到20角秒，经系统误差修正后整个系统测角误差均方根值达到9.46角秒。最后本文对测角系统的系统误差产生原因进行了分析。
[Abstract]:With the development of power electronic technology, computer technology, rare earth permanent magnet materials science, automatic control theory, the rapid development of intelligent control theory and technology of high efficiency, high power density permanent magnet synchronous motor is widely used in industrial, aerospace, defense, military and other fields of the motion control system, permanent magnet synchronous motor actuator digital PMSM servo system is gradually replacing DC motor, stepper motor system and become the development direction of servo drive system. However, due to the change of permanent magnet synchronous servo system and multi variable coupling parameters by motor, external load disturbance, bad environment and other factors, to get high performance permanent magnet synchronous servo system wide speed range, must have a thorough analysis of permanent magnet synchronous motor model, control strategy and control of advanced research The main work of this paper is to focus on the research of the control strategy of high performance all digital permanent magnet synchronous servo system. The main contents of this paper are as follows:
The electromagnetic process of permanent magnet synchronous motor, the torque angle characteristic is analyzed, establishing the stator flux equations of the three kind of coordinates, voltage equation and torque equation, and provides a theoretical groundwork for the analysis of control strategy. At present, the control strategy of permanent magnet synchronous motor servo control system according to the mainstream vector rotor flux oriented control strategy and control strategy based on stator flux oriented direct torque.
Systematic analysis of the basic principle and method of permanent magnet synchronous motor vector control method based on rotor flux orientation, we build a simulation model of id=0 vector control strategy, and the current loop and speed loop PI regulator parameters tuning, especially analysis of the current loop bandwidth and regulator parameters. Analysis of zero bias initial ring performance impact on the speed and the initial zero deviation of speed loop stability is determined by the Routh criterion, the simulation and experimental results show that with the increase of the initial zero bias, response speed loop and anti disturbance performance will worsen. On the basis of limiting the commonly used strategies the forward a new clipping method, theoretical analysis proved that this method is effective and superiority.
The control strategy of the stator flux oriented direct torque is analyzed based on the principle of the conventional direct torque control scheme is given on the mechanism of the stator flux amplitude is improved, simulation results show that this new amplitude of stator flux linkage mechanism makes the electromagnetic torque step response to achieve optimal performance.
According to the analysis and comparison of the control structure of vector control of rotor flux and the stator flux oriented direct torque control scheme for the two kinds of similarities and differences between the ring and the electromagnetic torque step response performance, the advantages of the integration of the two, based on the stator flux oriented control algorithm of voltage space vector pulse width modulation technology, and simulation experiments verify the effectiveness of the method and the step response.
Finally, the hardware platform of all digital permanent magnet synchronous motor servo control system is built, and vector control algorithm, direct torque control algorithm and fusion algorithm are implemented on the hardware platform. The experimental results also verify the advantages and disadvantages of the three control algorithms to a certain extent.
The design of 21 - channel rotary transformer as the decoding feedback channel full digital PMSM servo control system. The test platform experiment, using autocollimator and prism on accuracy of the angle measuring system. The results show that the angular error RMS value reached 20 seconds, the system error of the whole system error RMS value reached 9.46 arcsec. Finally this paper cause system error on measuring system are analyzed.

【学位授予单位】：中国科学院研究生院（光电技术研究所）
【学位级别】：博士
【学位授予年份】：2014
【分类号】：TM341

【参考文献】