基于DSP的永磁同步电机伺服控制算法研究

发布时间：2018-02-12 03:27

本文关键词： 永磁同步电机空间矢量脉宽调制技术三闭环矢量控制微分负反馈控制前馈控制　出处：《西南交通大学》2017年硕士论文　论文类型：学位论文

【摘要】：为实现机械相控阵列天线的波束扫描,需要通过机械转动天线单元达到预定的辐射相位,使用电机等驱动设备与天线单元相连,通过转动电机实现天线单元的转动,从而实现辐射单元辐射相位的控制。电机伺服控制系统是机械相控阵列天线的重要组成部分,它的性能直接影响天线单元的移相速度和定位精度,进而影响机械相控阵列天线的性能。交流永磁同步电机具有功率密度高、效率高、体积小、惯性低、响应快等特点,它能够满足天线单元相位控制的响应速度快、定位精度高等要求,因此可以采用交流永磁同步电机驱动天线单元转动实现辐射相位的控制。为满足某机械相控阵列天线的需求,本文对交流永磁同步电机的伺服控制算法进行研究。由于交流永磁同步电机是强耦合、时变的非线性系统,本文引入矢量控制方法实现交流永磁同步电机的解耦控制,构建了永磁同步电机的位置伺服控制系统。为了实现快速精确的相位控制,优化了传统三闭环PID控制算法来提高控制系统的控制性能。为实现永磁同步电机的快速、精确伺服控制,对永磁同步电机的控制原理进行了研究和探讨。首先,论述了永磁同步电机伺服控制系统的研究现状和发展前景;然后,深入分析了永磁同步电机的矢量控制原理和空间矢量脉宽调制(SVPWM)技术,并确定了Id=0的电流控制策略;之后,在理论上设计了永磁同步电机的位置伺服控制算法,在三闭环PID控制算法的基础上,引用微分负反馈控制和前馈控制来优化控制系统的控制性能。为了验证理论分析的有效性,基于Matlab/Simulink平台搭建了位置伺服控制系统,并仿真分析了传统三闭环控制算法与引入微分负反馈与前馈优化控制算法的位置伺服控制性能。仿真结果验证了同时引入前馈和微分负反馈优化的控制算法具有更好的跟踪性能,在轻载条件下位置超调更小。本论文以TMS320F2812 DSP为控制核心芯片,在CCS开发平台上完成了永磁同步电机位置伺服控制算法的软件设计,搭建了实验平台,通过对电机电流、转速和位置等实验曲线的观测分析,比较了传统三闭环控制算法与引用微分负反馈的控制算法的位置伺服控制性能,实验结果验证了微分负反馈优化控制算法的优势。
[Abstract]:In order to realize the beam scanning of the mechanical phased array array antenna, it is necessary to reach the predetermined radiation phase through the mechanical rotation antenna unit, and connect the antenna unit with the driving equipment such as the motor, and realize the rotation of the antenna unit through the rotating motor. The motor servo control system is an important part of the mechanical phased array antenna. Its performance directly affects the phase shifting speed and positioning accuracy of the antenna unit. The AC permanent magnet synchronous motor has the characteristics of high power density, high efficiency, small volume, low inertia, fast response and so on. The positioning accuracy is high, so it is possible to use AC permanent magnet synchronous motor (PMSM) to drive the antenna unit rotation to realize the radiation phase control, in order to meet the requirements of a mechanical phased array antenna, The servo control algorithm of AC permanent magnet synchronous motor (PMSM) is studied in this paper. Because AC PMSM is a nonlinear system with strong coupling and time-varying, the vector control method is introduced to realize the decoupling control of PMSM. The position servo control system of permanent magnet synchronous motor (PMSM) is constructed. In order to realize fast and accurate phase control, the traditional three-loop PID control algorithm is optimized to improve the control performance of PMSM. The control principle of permanent magnet synchronous motor (PMSM) is studied and discussed. Firstly, the research status and development prospect of PMSM servo control system are discussed. The principle of vector control and space vector pulse width modulation (SVPWM) technology of permanent magnet synchronous motor (PMSM) are deeply analyzed, and the current control strategy of PMSM is determined. Then, the position servo control algorithm of PMSM is designed theoretically. Based on the three-loop PID control algorithm, differential negative feedback control and feedforward control are used to optimize the control performance of the control system. In order to verify the effectiveness of the theoretical analysis, a position servo control system based on the Matlab/Simulink platform is built. The position servo control performance of the traditional three-loop control algorithm and the position servo control algorithm with differential negative feedback and feedforward optimization is simulated and analyzed. The simulation results show that the control algorithm with feedforward and differential negative feedback optimization has a good performance. Better tracking performance, In this paper, TMS320F2812 DSP is used as the control core chip, and the software design of the PMSM position servo control algorithm is completed on the CCS development platform. Based on the observation and analysis of the experimental curves such as rotational speed and position, the position servo control performance of the traditional three-loop control algorithm and the differential negative feedback control algorithm is compared. The experimental results verify the advantages of the differential negative feedback optimal control algorithm.
【学位授予单位】：西南交通大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273

【参考文献】