基于SRMA-UKF的PMSM无速度传感器系统

发布时间：2018-12-16 15:49

【摘要】：本文是对永磁同步电机(PMSM)带遗忘因子的方根无迹卡尔曼滤波算法(SRMA-UKF)应用在矢量控制系统的研究。主要内容如下：首先,介绍了坐标变换的思想,气隙磁场定向、转子磁场定向、定子磁场定向的定义与特点,永磁同步电机在dq旋转坐标系以及αβ静止坐标系下的数学模型和矢量控制原理,介绍了电压空间矢量脉宽调制(SVPWM)原理。其次,阐述了利用卡尔曼滤波算法估计永磁同步电机位置角与转速的原理,分别推导了永磁同步电机在静止坐标系和旋转坐标系下的扩展卡尔曼滤波(EKF)方程,给出了基于EKF算法的永磁同步电机无传感器调速系统控制框图。搭建了基于EKF算法的永磁同步电机矢量控制仿真系统,仿真结果验证了扩展卡尔曼滤波算法在无位置传感器的永磁同步电机控制中的有效性和合理性。再次,阐述了基于Sigma点的卡尔曼滤波算法原理,分别对扩展卡尔曼滤波器、无迹卡尔曼滤波器、方根无迹卡尔曼滤波器、带遗忘因子的方根无迹卡尔曼滤波器进行Matlab仿真,并且对系统负载变化时电机转速与位置角进行分析,从而说明了改进算法在鲁棒性上的优化。最后,采用TI公司的32位数字信号处理器—-TMS320F2812作为控制核心,设计了控制系统的软、硬件结构。硬件方面包括主电路、控制电路各个部分以及IPM外围电路的设计,使用C语言编写系统的软件部分,并且给出了系统主程序和PWM中断服务子程序流程图。使用C++在Visual C++6.0环境下开发系统上位机程序。在Code Composer Studio 3.3集成开发环境下,对程序进行调试,以实验结果来验证设计方案的正确性。
[Abstract]:In this paper, the application of square root unscented Kalman filter (SRMA-UKF) with forgetting factor in permanent magnet synchronous motor (PMSM) to vector control system is studied. The main contents are as follows: firstly, the definition and characteristics of coordinate transformation, air gap magnetic field orientation, rotor magnetic field orientation and stator magnetic field orientation are introduced. The mathematical model and vector control principle of permanent magnet synchronous motor in dq rotating coordinate system and 伪尾 stationary coordinate system are introduced. The principle of voltage space vector pulse width modulation (SVPWM) is introduced. Secondly, the principle of estimating the position angle and rotational speed of permanent magnet synchronous motor by Kalman filter algorithm is introduced, and the extended Kalman filter (EKF) equation of permanent magnet synchronous motor in static coordinate system and rotating coordinate system is derived, respectively. The control block diagram of sensorless speed control system of permanent magnet synchronous motor based on EKF algorithm is presented. The vector control simulation system of permanent magnet synchronous motor based on EKF algorithm is built. The simulation results verify the validity and rationality of the extended Kalman filter algorithm in the sensorless permanent magnet synchronous motor control. Thirdly, the principle of Kalman filter algorithm based on Sigma point is introduced. The Matlab simulation of extended Kalman filter, unscented Kalman filter, square root unscented Kalman filter and square root unscented Kalman filter with forgetting factor is carried out. The motor rotation speed and position angle are analyzed when the load of the system changes, thus the robustness of the improved algorithm is optimized. Finally, the software and hardware structure of the control system is designed by using the 32 bit digital signal processor (TMS320F2812) of TI Company as the control core. The hardware includes the design of the main circuit, the control circuit and the peripheral circuit of IPM. The software part of the system is written with C language, and the flow chart of the main program of the system and the subprogram of PWM interrupt service are given. Using C in Visual C 6.0 environment to develop the upper computer program. In the Code Composer Studio 3.3 integrated development environment, the program is debugged and the experimental results are used to verify the correctness of the design.
【学位授予单位】：福州大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM341

【相似文献】