基于重复控制的永磁同步电机伺服系统研究
发布时间：2018-12-21 20:11
【摘要】：电动仿真转台是航空航天领域中用于半实物仿真的重要设备，随着航空航天工业的迅速发展，对仿真转台各项性能提出了更高的要求。本文以电动仿真转台的电机伺服控制系统为研究对象，研究永磁同步电机伺服系统控制策略和控制效果，引入重复控制技术，提出基于重复控制的无静差永磁同步电机伺服控制系统，大大改善了系统的动静态性能。 首先，建立了永磁同步电机的数学模型，根据坐标变换理论推导出电机在αβ静止坐标系及dq旋转坐标系下的变换方程。以电机数学模型为基础，研究了永磁同步电机矢量控制策略和直接转矩控制策略，两种策略中的逆变电路都采用电压矢量脉宽调制（SVPWM）技术。在Matlab/Simulink环境中，对控制系统参数进行了优化，并进行了仿真研究，直接转矩控制系统的动态响应更快。 然后，分析了重复控制技术，重点研究了重复控制器的设计及实现方法。根据永磁同步电机矢量控制及直接转矩控制特点，将重复控制技术应用到两种控制策略中。建立了两种控制系统的模型，并进行仿真研究。仿真结果表明，，基于重复控制器的矢量控制策略电流和位置变量稳态运行无静差，动态跟随性能好；基于基于重复控制器的直接转矩控制策略电磁转矩脉动小，系统运行稳定。 最后，阐述了电动仿真转台的组成结构及系统的工作过程，对两种改进的伺服系统仿真进行分析，仿真表明系统的位置跟随性能良好。
[Abstract]:Electric simulation turntable is an important equipment used in the field of aeronautics and astronautics. With the rapid development of aerospace industry, higher requirements are put forward for the performance of simulation turntable. In this paper, the control strategy and control effect of the permanent magnet synchronous motor servo system are studied, and the repetitive control technology is introduced, taking the motor servo control system of the electric simulation turntable as the research object. A permanent magnet synchronous motor servo control system based on repetitive control is proposed, which greatly improves the dynamic and static performance of the system. Firstly, the mathematical model of permanent magnet synchronous motor (PMSM) is established, and the transformation equations of PMSM in 伪 尾 stationary coordinate system and dq rotating coordinate system are derived according to coordinate transformation theory. Based on the mathematical model of permanent magnet synchronous motor (PMSM), the vector control strategy and direct torque control strategy of PMSM are studied. The voltage vector pulse width modulation (SVPWM) technique is used in the inverter circuit of both strategies. In the Matlab/Simulink environment, the parameters of the control system are optimized, and the simulation results show that the dynamic response of the direct torque control system is faster. Then, the repetitive control technology is analyzed, and the design and implementation of repetitive controller are studied. According to the characteristics of vector control and direct torque control of permanent magnet synchronous motor (PMSM), the repetitive control technique is applied to two control strategies. The models of two control systems are established and simulated. The simulation results show that the vector control strategy based on repetitive controller has no static error and good dynamic following performance, and the direct torque control strategy based on repetitive controller has small electromagnetic torque ripple and stable operation. Finally, the structure of the electric simulation turntable and the working process of the system are described. Two kinds of improved servo system simulation are analyzed, and the simulation results show that the position following performance of the system is good.
【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
本文编号：2389396
[Abstract]:Electric simulation turntable is an important equipment used in the field of aeronautics and astronautics. With the rapid development of aerospace industry, higher requirements are put forward for the performance of simulation turntable. In this paper, the control strategy and control effect of the permanent magnet synchronous motor servo system are studied, and the repetitive control technology is introduced, taking the motor servo control system of the electric simulation turntable as the research object. A permanent magnet synchronous motor servo control system based on repetitive control is proposed, which greatly improves the dynamic and static performance of the system. Firstly, the mathematical model of permanent magnet synchronous motor (PMSM) is established, and the transformation equations of PMSM in 伪 尾 stationary coordinate system and dq rotating coordinate system are derived according to coordinate transformation theory. Based on the mathematical model of permanent magnet synchronous motor (PMSM), the vector control strategy and direct torque control strategy of PMSM are studied. The voltage vector pulse width modulation (SVPWM) technique is used in the inverter circuit of both strategies. In the Matlab/Simulink environment, the parameters of the control system are optimized, and the simulation results show that the dynamic response of the direct torque control system is faster. Then, the repetitive control technology is analyzed, and the design and implementation of repetitive controller are studied. According to the characteristics of vector control and direct torque control of permanent magnet synchronous motor (PMSM), the repetitive control technique is applied to two control strategies. The models of two control systems are established and simulated. The simulation results show that the vector control strategy based on repetitive controller has no static error and good dynamic following performance, and the direct torque control strategy based on repetitive controller has small electromagnetic torque ripple and stable operation. Finally, the structure of the electric simulation turntable and the working process of the system are described. Two kinds of improved servo system simulation are analyzed, and the simulation results show that the position following performance of the system is good.
【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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