交流伺服系统参数整定方法及抗负载扰动观测研究

发布时间：2019-02-18 08:31

【摘要】：以永磁同步电机为执行元件的交流伺服系统具有重量轻、体积小、效率高、功率密度大以及功率因素高等优点，被广泛的应用于各种工业化自动领域。交流伺服系统的控制性能与系统的控制方式密切相关，目前三环结构的PID控制方式仍然是交流伺服系统中应用最为广泛的控制方式。为了使系统具有优良的控制性能，必须对其三环的控制参数进行充分整定。而人工手动整定过程异常的繁琐，且整定的效果与技术人员个人所具备的专业密切相关。其次，除了控制策略的影响，各种不确定性因素也会影响交流伺服系统的性能，其中负载转矩的变化对其性能的影响最大。本文针对负载转矩扰动对交流伺服系统的影响提出了一套基于高阶最优化模型控制理论的控制参数整定方法，并提出了一种基于降维观测器的转矩扰动补偿方法。首先，分析了永磁同步电动机的数学模型，为了简化其数学模型，对电机参数变量之间的关系进行坐标变换；介绍了永磁同步电机的电压空间矢量脉宽调制原理以及实现方法，并在此理论基础上建立了三环交流伺服控制系统仿真模型。其次，对交流伺服系统各组成环节进行分析并得到各环节的传递函数，，根据交流伺服系统的控制过程及结构，分别建立了三环的控制模型，根据建立的控制模型以及各控制环不同的性能要求，分别对三环的控制参数进行整定，使系统获得优良的控制性能。然后，根据交流伺服系统的数学模型以及状态观测器理论，分别设计了全维和降维负载转矩观测器。在此基础上对降维观测器的反馈常数矩阵进行改进，提出了高阶滑模降维观测器的设计方法，并建立了其仿真模型，通过仿真对三种观测器进行比较，其结果表明高阶滑模降维负载观测器的设计结构简单，需要调节的参数少，估算更为精确。提出了基于高阶滑模降维负载转矩观测器的转矩扰动补偿方法，仿真结果表明此补偿方法使交流伺服系统具有了较强的抗负载扰动能力。最后，通过实验对上述的参数整定方法以及负载转矩观测补偿方法进行验证，实验结果表明，进行控制参数整定后的交流伺服系统具有良好的鲁棒性；高阶滑模降维观测器对负载转矩的变化能做出快速、准确的响应，基于观测器的转矩扰动补偿方法很好的抑制负载转矩的扰动，提高了交流伺服系统的抗扰动性能。
[Abstract]:The AC servo system with permanent magnet synchronous motor (PMSM) as the actuator has the advantages of light weight, small volume, high efficiency, high power density and high power factor. It has been widely used in various industrial automatic fields. The control performance of AC servo system is closely related to the control mode of the system. At present, the three-ring structure PID control mode is still the most widely used control method in AC servo system. In order to make the system have excellent control performance, it is necessary to set the control parameters of the three loops. The manual setting process is very complicated, and the effect of setting is closely related to the specialty of the technicians. Secondly, in addition to the influence of control strategy, a variety of uncertainties will also affect the performance of AC servo system, in which the change of load torque has the greatest impact on the performance of AC servo system. In this paper, a set of control parameter tuning method based on high order optimization model control theory is proposed for the effect of load torque disturbance on AC servo system, and a torque disturbance compensation method based on reduced order observer is proposed. Firstly, the mathematical model of permanent magnet synchronous motor (PMSM) is analyzed. In order to simplify the mathematical model, coordinate transformation is carried out on the relationship between the parameters of PMSM. This paper introduces the principle and realization method of voltage space vector pulse width modulation of permanent magnet synchronous motor, and establishes the simulation model of three-loop AC servo control system based on the theory. Secondly, the components of AC servo system are analyzed and the transfer function of each link is obtained. According to the control process and structure of AC servo system, the three-loop control model is established respectively. According to the established control model and the different performance requirements of each control loop, the control parameters of the three-loop are adjusted respectively, so that the system can obtain excellent control performance. Then, according to the mathematical model of AC servo system and the theory of state observer, the full-dimension load torque observer is designed. On this basis, the feedback constant matrix of the reduced order observer is improved, the design method of the high order sliding mode reduced order observer is proposed, and its simulation model is established, and the three kinds of observer are compared by simulation. The results show that the design of the high order sliding mode reduced order load observer is simple, the parameters need to be adjusted less, and the estimation is more accurate. A torque disturbance compensation method based on high-order sliding mode reduced-order load torque observer is proposed. The simulation results show that the compensation method has a strong anti-load disturbance capability for AC servo system. Finally, the above parameters tuning method and load torque observation compensation method are verified by experiments. The experimental results show that the AC servo system after tuning the control parameters has good robustness. High-order sliding mode reduced-order observer can respond quickly and accurately to the change of load torque. The observer based torque disturbance compensation method can suppress the disturbance of load torque and improve the anti-disturbance performance of AC servo system.
【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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