面装式永磁同步电机参数辨识的研究

发布时间：2018-11-27 21:15

【摘要】：永磁同步电机（PMSM）伺服系统在现代社会中有着诸多的应用。然而，随着应用领域的不断拓展和深化，对伺服系统本身的性能有了更高的要求，要求其能够做到更高的跟踪精度和更为良好的鲁棒性。为此，很多学者努力探索算法和控制策略。就现有的大部分的控制方式而言,电机的电气参数和机械参数的准确度对控制效果有着很大的影响。因此，对电机进行参数辨识便成了一个很有意义和重要的工作。本文针对一台面装式小惯量电机，根据PMSM的数学描述公式和基于i d0的矢量控制方案搭建了仿真平台，进行了平台系统的仿真，分析了该系统的带载和切载性能。给出了在已知定子相电阻和转速的情况下，应用模型参考自适应（MRAS）算法对电感和磁链进行辨识的方案。并根据可调模型的表达式，详细分析了影响辨识动态性能的五个要素，对辨识过程的动态性能（包括收敛速度和精度）进行了优化，仿真结果证明了算法的有效性。针对实际过程中时变的转动惯量对运行机构的性能有着很大的影响的问题，应用遗忘因子最小二乘算法（FFRLS）和Landau离散时间递推算法进行了转动惯量的跟踪辨识。仿真结果证明，这两种方法都能够准确跟踪辨识转动惯量，且收敛时间和收敛精度能够满足要求。对另一个机械参数负载扰动转矩进行了跟踪辨识。通过设计一个降阶扰动观测器对其进行了跟踪辨识，该观测器的其中一个输入就是辨识出的系统惯量值。另外，，针对突然增加或减少负载将会引起转速的跌落与突增的问题，研究了瞬时速度补偿的原理，应用辨识出来的负载扰动转矩作为前馈补偿加入到速度调节器的输出，作为力矩给定。通过该措施可进行瞬时转速的补偿，提升机构的抵抗外界干扰的能力。
[Abstract]:Permanent magnet synchronous motor (PMSM) (PMSM) servo system has many applications in modern society. However, with the continuous expansion and deepening of the application field, the performance of servo system has higher requirements, which requires it to achieve higher tracking accuracy and better robustness. Therefore, many scholars try to explore algorithms and control strategies. For most of the existing control methods, the accuracy of electrical and mechanical parameters has a great impact on the control effect. Therefore, the parameter identification of the motor has become a very significant and important work. In this paper, a simulation platform is built according to the mathematical description formula of PMSM and the vector control scheme based on id0 for a table mounted small inertia motor. The simulation of the platform system is carried out, and the performance of the system with and without load is analyzed. In this paper, a scheme of identifying inductance and flux by using model reference adaptive (MRAS) algorithm is presented when the stator phase resistance and speed are known. According to the expression of the adjustable model, five factors affecting the dynamic performance of the identification are analyzed in detail, and the dynamic performance (including convergence speed and precision) of the identification process is optimized. The simulation results show that the algorithm is effective. Aiming at the problem that the time-varying moment of inertia has great influence on the performance of the operating mechanism, the oblivion factor least square algorithm (FFRLS) and the discrete time recursive algorithm (Landau) are applied to track and identify the moment of inertia. The simulation results show that the two methods can accurately track and identify the moment of inertia, and the convergence time and accuracy can meet the requirements. The load disturbance torque of another mechanical parameter is tracked and identified. A reduced order disturbance observer is designed to track and identify the observer. One of the inputs of the observer is the recognized inertia value of the system. In addition, aiming at the problem that the sudden increase or decrease of load will cause the speed drop and increase, the principle of instantaneous speed compensation is studied. The identified load disturbance torque is added to the output of speed regulator as feedforward compensation. Given as a moment. Through this measure, the instantaneous speed compensation can be carried out, and the ability of the mechanism to resist external interference can be improved.
【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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