基于二阶滑模算法的永磁同步电机控制方法的研究

发布时间：2018-05-04 20:02

本文选题：永磁同步电机 + SVPWM　；参考：《浙江理工大学》2017年硕士论文

【摘要】：随着永磁交流伺服技术突飞猛进的发展,运用永磁同步电机的场合逐渐增多,利用永磁同步电机的系统会更加复杂。这就要求伺服系统有更好的鲁棒性和速度跟踪性能。滑模变结构控制理论逐渐延伸到电力传动控制领域,因其响应速度快,设计简单,同时鲁棒性较强。但是由于操作过程中频繁的开关控制会导致抖振现象,这对实际工程来说是一个严峻的问题。发生抖振的原因在于执行机构与实际控制器之间无法进行高频切换,且系统存在稳态误差,严重时高频振动会引起系统元件损坏。本文在永磁同步电动机中增加了二阶滑模变结构控制,并对其进行全面深入探究,克服了外界干扰和参数变化的影响,增强了伺服系统的鲁棒性和动态性能。本文首先简述了电压空间矢量脉冲宽度调制(SVPWM)的基本概念和调制技术原理,并且具体讲述了SVPWM算法的实现。经典的SPWM控制主要着眼于使变压变频器的输出电压尽量接近正弦波,并未顾及输出电流的波形。然而交流电动机需要输入三相正弦电流的,从而产生电磁转矩。因此,永磁同步电机通常采用SVPWM控制技术。本文选取id=0转子磁场定向控制方法,这种控制方法系统简单,电流利用率高,转矩定性好,且调速范围广泛。转子磁场定向控制能够解耦定子电流中的两个分量,使得永磁同步电机获得类似与直流电机的性能以及控制方式。在传统滑模的基础上,介绍了二阶滑模控制的基本原理和算法,提出了一种永磁同步电机的二阶滑模算法,利用Matlab/simulink软件搭建了一种基于电压空间矢量脉冲宽度调制的的永磁同步电动机二阶滑模控制系统并进行了仿真。仿真波形和数据表明:基于二阶滑模算法的永磁同步电机控制方法能够快速调整负载变化带来的速度扰动,从而提高了永磁同步电机伺服系统的动态性能;二阶滑模控制方法在保持传统滑模的结构简单和鲁棒性较强优势的同时,不会给系统带来抖振的现象。由此可见,基于二阶滑模算法的永磁同步电机伺服系统具有较好的动态性能、较强的鲁棒性和抗干扰性。最后,设计了基于型号为TMS320F28035的DSP芯片的硬件系统。
[Abstract]:With the rapid development of permanent magnet AC servo technology, the applications of permanent magnet synchronous motor (PMSM) are increasing, and the system of PMSM will be more complex. This requires the servo system to have better robustness and speed tracking performance. Sliding mode variable structure control theory is gradually extended to the field of power transmission control, because of its fast response speed, simple design and strong robustness. However, the frequent switching control during operation will lead to buffeting, which is a severe problem for practical engineering. The reason of buffeting is that there is no high frequency switching between the actuator and the actual controller, and there is a steady state error in the system. When the vibration is serious, the high frequency vibration will lead to the damage of the system components. In this paper, the second-order sliding mode variable structure control is added to PMSM, and it is thoroughly studied, which overcomes the influence of external disturbance and parameter change, and enhances the robustness and dynamic performance of servo system. In this paper, the basic concept and principle of voltage space vector pulse width modulation (SVPWM) are introduced, and the implementation of SVPWM algorithm is described in detail. The classical SPWM control mainly focuses on making the output voltage of the variable-voltage converter as close as possible to sine wave without considering the waveform of output current. However, AC motors need to input three-phase sinusoidal current, thus producing electromagnetic torque. Therefore, permanent magnet synchronous motor (PMSM) usually adopts SVPWM control technology. In this paper, the id=0 rotor field oriented control method is selected, which is simple in system, high in current utilization rate, good in torque quality and wide in speed range. Rotor flux oriented control can decouple two components of stator current, which makes permanent magnet synchronous motor obtain the same performance and control mode as DC motor. Based on the traditional sliding mode, the basic principle and algorithm of second-order sliding mode control are introduced, and a second-order sliding mode algorithm for permanent magnet synchronous motor is proposed. The second order sliding mode control system of permanent magnet synchronous motor based on voltage space vector pulse width modulation is built by using Matlab/simulink software and simulated. The simulation waveform and data show that the PMSM control method based on the second-order sliding mode algorithm can quickly adjust the speed disturbance caused by the load change, thus improving the dynamic performance of PMSM servo system. The second-order sliding mode control method does not bring buffeting phenomenon to the system while keeping the simple structure and strong robustness of the traditional sliding mode control method. Thus, the PMSM servo system based on second-order sliding mode algorithm has better dynamic performance, strong robustness and anti-interference. Finally, the hardware system of DSP chip based on TMS320F28035 is designed.
【学位授予单位】：浙江理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273;TM341

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