永磁同步电机伺服系统抗扰动控制算法研究

发布时间：2018-05-11 03:29

本文选题：伺服系统 + 永磁同步电机　；参考：《湖南大学》2014年硕士论文

【摘要】：伺服系统是精确地对某个过程跟随以及复现的运动控制系统。永磁同步电动机拥有体积小、无需励磁电流、定子电流和定子电阻损耗较小、过载能力较强等优点，矢量控制策略具有电机转矩控制简单、电机动态性能好等优点。因此采用矢量控制的永磁同步电机伺服系统广泛应用于工业运动控制系统中。由于很多伺服系统需要在工作负载、转动惯量等不断发生变化的工业场景中作业，所以PMSM伺服驱动系统需要具有较强的抗扰动性能以抑制负载变化等扰动因素对控制系统带来的不良影响。本文首先分析PMSM在三相静止坐标系以及两相旋转坐标系下的数学模型，对常用的PMSM矢量控制技术原理进行研究。然后结合先进的抗扰动控制策略，分别从改变PID结构和整定PID参数出发设计PMSM伺服系统抗扰动控制器。为抑制电机负载及转动惯量的变化对PMSM伺服系统性能带来不良影响，本文结合改变PID结构的自抗扰控制器、PMSM数学模型以及伺服系统控制结构设计了基于自抗扰控制器的速度环、位置环控制器来实现PMSM伺服系统的准确性、快速响应以及鲁棒性。本文还利用“先辨识扰动、再补偿整定”的思想，基于降维观测器原理设计了力矩观测器对负载力矩先进行估计然后补偿，，基于梯度校正辨识方法设计了PMSM的惯量辨识策略并通过辨识值对PI控制器参数进行整定，达到通过参数整定实现改进PMSM伺服系统的抗扰动性能。最后，在以上工作基础上，研制了一套基于TMS320LF2812的PMSM伺服控制系统，并对抗扰动算法的有效性进行了实验验证。
[Abstract]:A servo system is a motion control system that accurately follows and reappears a process. Permanent magnet synchronous motor (PMSM) has the advantages of small size, no excitation current, small loss of stator current and stator resistance, strong overload capacity and so on. Vector control strategy has the advantages of simple torque control and good dynamic performance of motor. Therefore, the permanent magnet synchronous motor servo system with vector control is widely used in industrial motion control system. Because many servo systems need to operate in changing industrial scenarios such as workloads, moment of inertia, etc., Therefore, the PMSM servo drive system needs to have strong anti-disturbance performance to suppress the adverse effects of disturbance factors such as load variation on the control system. In this paper, the mathematical models of PMSM in three-phase stationary coordinate system and two-phase rotating coordinate system are analyzed, and the principle of PMSM vector control technology is studied. Then combining with the advanced anti-disturbance control strategy, the anti-disturbance controller of PMSM servo system is designed by changing the PID structure and setting the PID parameters, respectively. In order to restrain the bad effect of motor load and moment of inertia on the performance of PMSM servo system, this paper designs a speed loop based on ADRC combined with the mathematical model of ADRC and the control structure of servo system. Position loop controller is used to realize the accuracy, fast response and robustness of PMSM servo system. Based on the principle of reduced-order observer, the torque observer is designed to estimate the load torque first and then compensate it. Based on the gradient correction identification method, the inertia identification strategy of PMSM is designed and the parameters of Pi controller are adjusted by the identification value. The anti-disturbance performance of PMSM servo system can be improved by parameter tuning. Finally, based on the above work, a PMSM servo control system based on TMS320LF2812 is developed, and the effectiveness of the anti-disturbance algorithm is verified experimentally.
【学位授予单位】：湖南大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM341

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