高性能永磁无刷直流电机调速系统的研究

发布时间：2018-06-28 06:34

本文选题：无刷直流电机 + Simulink　；参考：《内蒙古科技大学》2013年硕士论文

【摘要】：无刷直流电机（BLDCM）也称方波同步电机，保持了直流电机的优良特性，采用了电子换向替代机械换向，解决了传统直流电机因机械换向带来的电火花、噪音、干扰及使用寿命短等问题。因而在可靠性、经济性、快速性以及效率等方面占有明显优势，因此，广泛应用于高精度的控制系统中。本文主要对无刷直流电机调速系统的控制策略进行研究。目前，无刷直流电机调速系统一般采用双闭环调速，采用传统PID控制策略。然而传统PID控制要求对控制器参数进行严格的整定，当被控对象参数发生变化时，控制器参数不能随着被控对象的变化而做出相应的调整。无刷直流电机系统就是一个多变量、强耦合、非线性、时变的复杂系统。因此，在一些高精度、高性能的应用场合，单一的PID控制策略已不能达到理想的控制效果。近年来，一些智能控制为解决上述问题提供了新的思路，其中模糊控制就以控制算法简单、对数学模型依赖性弱、便于实时控制、鲁棒性强、参数可在线自整定等特点迅速发展起来。本文针对无刷直流电机高精度控制策略为主题开展探索，设计一个高性能的无刷直流电机双闭环调速系统，以期提高系统的动、静态性能。首先，分析了无刷直流电机的组成结构、工作原理、数学模型及调速方式。其次，在传统PID控制基础上，，结合模糊控制，设计一个能够在线参数自整定的模糊自适应PID集成控制器，并提出一种优化模糊算子的优化算法，解决传统PID控制精度低的问题。第三，在仿真环境MATLAB/Simlink下搭建以模糊自适应PID为速度环控制器、以传统PI控制为电流环控制器的双闭环调速系统，并与传统PID控制效果进行仿真对比。仿真结果表明：在模糊自适应PID集成控制策略下，系统具有较强的鲁棒性和自适应性，能够改善电机调速系统的动、静态特性。最后，提出一种算法简单、精度高、响应快的全维观测器去跟踪观测速度的变化情况。最后，以美国Microchip公司推出的一款专门用于伺服控制系统的增强型16位闪存数字信号处理器dsPIC30F4011作为主控芯片，进行了无刷直流电机驱动控制器的软、硬件设计。
[Abstract]:Brushless DC motor (BLDCM), also known as square wave synchronous motor, maintains the excellent characteristics of DC motor, adopts electronic commutation instead of mechanical commutator, and solves the electrical spark and noise caused by mechanical commutation of traditional DC motor. Interference and short service life. Therefore, it has obvious advantages in reliability, economy, rapidity and efficiency, so it is widely used in high-precision control systems. In this paper, the control strategy of brushless DC motor speed regulation system is studied. At present, brushless DC motor speed regulation system generally adopts double closed loop speed regulation and traditional pid control strategy. However, the traditional pid control requires strict tuning of the controller parameters. When the parameters of the controlled object change, the controller parameters can not be adjusted with the change of the controlled object. Brushless DC motor system is a multivariable, strongly coupled, nonlinear, time-varying complex system. Therefore, in some high precision and high performance applications, the single pid control strategy can not achieve the ideal control effect. In recent years, some intelligent controls have provided new ideas for solving the above problems. Among them, fuzzy control has the advantages of simple control algorithm, weak dependence on mathematical model, convenient real-time control and strong robustness. Parameters can be self-tuning on-line characteristics such as rapid development. In this paper, the high precision control strategy of brushless DC motor is explored, and a high performance double closed loop speed regulation system for brushless DC motor is designed in order to improve the dynamic and static performance of the system. Firstly, the composition, working principle, mathematical model and speed regulation of brushless DC motor are analyzed. Secondly, on the basis of traditional pid control and fuzzy control, a fuzzy adaptive pid integrated controller is designed, which can self-adjust the parameters on line, and an optimization algorithm of fuzzy operator is proposed to solve the problem of low precision of traditional pid control. Thirdly, under MATLAB / Simlink, a double closed loop speed control system with fuzzy adaptive pid as speed loop controller and traditional Pi control as current loop controller is built, and the simulation results are compared with that of traditional pid control. The simulation results show that the system is robust and adaptive under the fuzzy adaptive pid integrated control strategy and can improve the dynamic and static characteristics of the motor speed control system. Finally, a full-order observer with simple algorithm, high precision and fast response is proposed to track the change of observation speed. Finally, an enhanced 16-bit flash digital signal processor dsPIC30F4011 for servo control system developed by Microchip is used as the main control chip to design the hardware and software of the brushless DC motor drive controller.
【学位授予单位】：内蒙古科技大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TM33

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