永磁同步电机伺服系统参数辨识方法研究

发布时间：2018-04-14 23:24

本文选题：永磁同步电机 + 矢量控制　；参考：《哈尔滨工业大学》2014年硕士论文

【摘要】：由于稀土材料的广泛应用，伺服系统中，永磁同步电机(PMSM)也逐渐成为主流。在工作过程中，PMSM会因为发热温升和磁路饱和两个问题导致电机的机电参数偏离原始值波动，这给伺服驱动控制器的高精度高性能运行带来了挑战，因此，加入离在线参数辨识功能的PMSM伺服装置成为新型伺服系统发展的方向。本论文对此进行了研究，主要研究工作如下：首先对PMSM的本体数学解析模型及矢量控制策略进行了分析，对PMSM伺服控制系统的结构关系进行了研究；其次对常用机电参数离线参数辨识的方法进行了理论分析，对其具体实施方案来对PMSM的定子电阻、交直轴电感及永磁体磁链进行离线参数辨识进行了研究。然后分析了参数辨识的意义并根据最小二乘原理，以及改进算法，提出一种在线参数辨识的方法并完成了Matlab/Simulink环境下的仿真。在不同的电机参数下，比较不同情况下在线参数辨识的辨识波形；同时，根据MRAI算法改进了转动惯量可变的PMSM电机模型及其辨识模块进行仿真同FFRLS算法进行对比分析；最后作为参数辨识结果的应用，考虑到时变参数的基于转速和电流双闭环PMSM伺服控制器控制参数自整定，由于PMSM伺服系统是时变性较强的高阶系统，，通过理论简化其控制函数，进而推导一种实时多参数时变PI整定方法应用于实践。
[Abstract]:As rare earth materials are widely used, PMSM (permanent Magnet synchronous Motor) has gradually become the mainstream in servo system.In the working process, PMSM will cause the mechanical and electrical parameters of the motor to deviate from the original value fluctuation due to the two problems of heating temperature rise and magnetic circuit saturation, which brings challenges to the high precision and high performance operation of the servo drive controller.Adding PMSM servo device with off-line parameter identification function has become the development direction of new servo system.This thesis has carried on the research, the main research work is as follows:Firstly, the mathematical analytic model and vector control strategy of PMSM are analyzed, and the structural relationship of PMSM servo control system is studied.Secondly, the common off-line parameter identification method of electromechanical parameters is theoretically analyzed, and the off-line parameter identification of stator resistance, cross-axis inductor and permanent magnet flux of PMSM is studied.Then, the significance of parameter identification is analyzed. According to the principle of least squares and the improved algorithm, an on-line parameter identification method is proposed and the simulation in Matlab/Simulink environment is completed.At the same time, according to the MRAI algorithm, the PMSM motor model with variable moment of inertia and its identification module are simulated and compared with the FFRLS algorithm.Finally, as the application of parameter identification results, considering the self-tuning of control parameters based on rotational speed and current double closed loop PMSM servo controller, because PMSM servo system is a high order system with strong time-varying, its control function is simplified by theory.Then a real-time multi-parameter time-varying Pi tuning method is derived and applied to practice.
【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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