多直线开关磁阻电机位置同步控制研究

发布时间：2018-01-24 12:12

本文关键词： 直线开关磁阻电机位置同步控制干扰补偿主令同步相邻交叉耦合　出处：《深圳大学》2017年硕士论文　论文类型：学位论文

【摘要】：随着现代制造业的快速发展,在驱动大型机械设备的控制系统中或是高精密机床加工系统中,多电机同步控制技术已经越来越重要。直驱动系统因其本身的结构特点具有控制简单,机械效率高,快速响应等优点而被广泛应用于同步控制系统中。因此,改善直驱动系统构成的多电机同步控制系统的同步控制性能,具有十分重要的研究价值。直线电机就是一种直驱动系统。目前,国内外主要研究的直线电机有永磁直线电机、感应直线电机和直线开关磁阻电机(LSRM)。相比永磁直线电机和感应直线电机,直线开关磁阻电机的运动部分不含永磁体及线圈,因而具有结构简单、可靠性高、耐高温、成本低等优点,故多直线开关磁阻电机同步控制系统在交通运输、国防工业、机械加工等诸多领域都具有十分可观的应用前景。针对多电机位置同步控制的研究,位置跟踪误差和位置同步误差是要改善的两个主要性能指标。电机的位置跟踪误差与控制器的位置跟踪性能有关,而电机之间的位置同步误差除了和控制器的性能有关外,整个控制系统的结构设计也对其有着重要影响。为了提高多电机同步控制系统的位置同步性能,本文以三台直线开关磁阻电机作为控制对象,设计了针对多台直线开关磁阻电机的位置精确同步控制策略:(1)设计主令同步控制结构。结合直线开关磁阻电机数学模型设计指数收敛干扰观测器,对系统扰动实施补偿,将前馈控制和干扰观测器引入PD控制中,设计基于前馈和干扰补偿的PD控制器,实现对单电机的精确位置跟踪,以此提升主令结构下多直线开关磁阻电机的位置同步控制精度。(2)设计相邻交叉耦合同步控制结构。结合各电机位置误差与位置同步误差构造新的状态耦合变量,采用系统辨识法获得电机模型参数,设计基于相邻交叉耦合的同步控制算法,提高多直线开关磁阻电机位置同步系统的同步控制性能。对上述算法进行的仿真研究和实验研究结果表明,以上控制策略在保证电机精确跟踪输入信号的同时取得了良好同步控制效果,验证了以上算法的有效性。
[Abstract]:With the rapid development of modern manufacturing industry, in the control system of driving large-scale mechanical equipment or high-precision machine tool processing system. Multi-motor synchronous control technology has become more and more important. The direct-drive system is widely used in synchronous control system because of its advantages of simple control, high mechanical efficiency and fast response. Improving the synchronous control performance of multi-motor synchronous control system composed of direct-drive system has very important research value. Linear motor is a kind of direct-drive system. The main linear motors studied at home and abroad include permanent magnet linear motor, induction linear motor and linear switched reluctance motor, compared with permanent magnet linear motor and induction linear motor. The moving part of linear switched reluctance motor does not contain permanent magnets and coils, so it has the advantages of simple structure, high reliability, high temperature resistance and low cost, so the synchronous control system of multiple linear switched reluctance motors is in transportation. Many fields, such as national defense industry, machining and so on, have considerable application prospects. The research on position synchronization control of multi-motor is studied. The position tracking error and the position synchronization error are two main performance indexes to be improved. The position tracking error of the motor is related to the position tracking performance of the controller. The position synchronization error between motors is related to the performance of the controller, and the structure design of the whole control system also has an important impact on the position synchronization performance of the multi-motor synchronous control system in order to improve the performance of the multi-motor synchronous control system. In this paper, three linear switched reluctance motors are taken as the control object. The main command synchronous control structure is designed for the position precise synchronous control strategy of multiple linear switched reluctance motors. The exponential convergence disturbance observer is designed based on the mathematical model of the linear switched reluctance motor. The feedforward control and disturbance observer are introduced into PD control, and a PD controller based on feedforward and disturbance compensation is designed to track the precise position of single motor. In order to improve the position synchronization control accuracy of multi-linear switched reluctance motor under the main command structure. The adjacent cross-coupling synchronous control structure is designed and a new state coupling variable is constructed by combining the position error and the position synchronization error of each motor. The system identification method is used to obtain the parameters of the motor model, and the synchronous control algorithm based on the adjacent cross-coupling is designed. Improve the synchronous control performance of the position synchronization system of multi-linear switched reluctance motor. The simulation and experimental results of the above algorithms show that. The above control strategy not only ensures the accurate tracking of the input signal, but also achieves a good synchronization control effect, which verifies the effectiveness of the above algorithm.
【学位授予单位】：深圳大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273;TM352

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