考虑齿隙及不确定性效应的永磁交流伺服系统高性能控制策略研究

发布时间：2018-01-21 11:39

本文关键词： 永磁同步电机矢量控制反步自适应控制齿隙补偿　出处：《南京理工大学》2017年硕士论文　论文类型：学位论文

【摘要】：为了克服齿隙对机电系统传动性能的影响,本文以三相交流永磁同步电机(PMSM)为控制对象,分析了永磁同步电机的结构并建立数学模型,选取死区模型来表现齿隙的传动作用,运用Matlab/Simulink软件来验证所提出的基于齿隙补偿的反步自适应控制器补偿齿隙的有效性,通过永磁同步电机交流伺服系统实验平台,对基于齿隙补偿的反步自适应控制和PID控制两种控制方法进行实验对比,通过实验结果进一步考核所提出的基于齿隙补偿的反步自适应控制器补偿齿隙的有效性。依据自适应控制理论提出基于齿隙补偿的反步自适应控制策略。首先对永磁同步电机结构进行分析,建立了三相静止坐标系以及两相旋转坐标系下的永磁同步电机的数学模型;通过分析在实际应用过程中永磁同步电机的几种控制方式,选用转矩控制型永磁交流伺服系统的矢量控制策略;兼顾PMSM伺服系统参数不确定性效应,构建其数学模型,采用非线性反推控制,设计自适应鲁棒反步控制器,运用Matlab/Simulink软件来验证所设计的自适应鲁棒反步控制器的有效性。然后重点研究了基于齿隙补偿的反步自适应控制策略,选取死区模型表达齿隙传动效应,建立含有齿隙的永磁交流伺服系统数学模型,对齿隙模型中主、从动轮结合处存在的阻尼系数和刚性系数等未知参数,进行在线估计,利用Lyapunov稳定性理论,采用反步控制理论,对参数的自适应律进行推导设计,最终提出了基于状态反馈的基于齿隙补偿的反步自适应控制策略。最后运用Matlab/Simulink软件来验证所提出的基于齿隙补偿的反步自适应控制器补偿齿隙的有效性,并通过永磁同步电机交流伺服系统实验平台,对基于齿隙补偿的反步自适应控制和PID控制两种控制方法进行实验对比,通过实验结果进一步考核所提出的基于齿隙补偿的反步自适应控制器补偿齿隙的有效性。
[Abstract]:In order to overcome the influence of tooth gap on the transmission performance of electromechanical system, the structure of permanent magnet synchronous motor (PMSM) is analyzed and its mathematical model is established. The dead-zone model is selected to represent the gear-gap transmission, and the effectiveness of the proposed backstepping adaptive controller based on tooth gap compensation is verified by using Matlab/Simulink software. Through the experiment platform of PMSM AC servo system, two control methods, backstepping adaptive control based on tooth gap compensation and PID control, are compared experimentally. The effectiveness of the proposed backstepping adaptive controller based on tooth gap compensation is further evaluated by the experimental results. Based on the adaptive control theory, a backstepping adaptive control strategy based on tooth gap compensation is proposed. The structure of permanent magnet synchronous motor is analyzed. The mathematical models of permanent magnet synchronous motor (PMSM) in three-phase stationary coordinate system and two-phase rotating coordinate system are established. By analyzing several control methods of permanent magnet synchronous motor in practical application, the vector control strategy of torque control permanent magnet AC servo system is selected. Considering the parameter uncertainty effect of PMSM servo system, the mathematical model is constructed, and the adaptive robust backstepping controller is designed by using nonlinear backstepping control. Matlab/Simulink software is used to verify the effectiveness of the designed adaptive robust backstepping controller. Then the adaptive backstepping control strategy based on tooth gap compensation is studied. The dead zone model is selected to express the tooth gap transmission effect, and the mathematical model of permanent magnet AC servo system with tooth gap is established. The unknown parameters such as damping coefficient and rigidity coefficient, such as damping coefficient and rigidity coefficient, are found in the tooth gap model. Based on the Lyapunov stability theory and the backstepping control theory, the adaptive law of parameters is deduced and designed. Finally, a backstepping adaptive control strategy based on tooth gap compensation based on state feedback is proposed. Finally, Matlab/Simulink software is used to verify the proposed backstepping adaptive control based on tooth gap compensation. The machine compensates the tooth gap effectively. Through the experiment platform of PMSM AC servo system, two control methods, backstepping adaptive control and PID control based on tooth gap compensation, are compared. The effectiveness of the proposed backstepping adaptive controller based on tooth gap compensation is further verified by the experimental results.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273;TM341

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