PMSM伺服系统模糊PI自适应控制策略研究

发布时间：2018-05-18 22:23

本文选题：永磁同步电机 + 矢量控制　；参考：《江西理工大学》2017年硕士论文

【摘要】：PMSM伺服系统存在着非线性,参数时变,负载扰动等问题;面对这些问题,传统的PI控制策略往往不能达到理想的参数跟踪及负载抗扰性能,表现出了很大程度上的局限性。针对这类问题,本文设计一种解决方案,构思步骤梳理如下:首先,立足于对PMSM在3种坐标系中建立的数学模型进行分析推导,分别得出PMSM的电磁方程,选用(28)0di矢量控制方式,针对PMSM伺服系统的速度环控制,通过对专家经验知识的提炼,获取模糊控制规则,设计了一种融合模糊规则的PI控制器,以期达到摆脱对受控对象数学模型精度的依赖、提高系统对负载变化的追踪能力以及对参数变化适应能力的目的。通过Matlab/Simulink平台构建采用SVPWM调制方式的系统模型,给定较低的转速启动,通过仿真验证设想的可行性,结果显示:在较低的给定转速下,模糊PI控制器可以有效地消除超调,提高系统的鲁棒性,增强系统对负载变动的适应能力。其次,在构建模糊PI控制器的基础上引入自适应机制,更进一层地增强控制器的动静态性能,克服控制器处于较高给定转速情况下性能表现受限的不足;立足于原模糊PI控制器构建自适应模块,另取新的规则库使其输出不同调整参数。给定较高转速启动,再次通过仿真检验该方案的效果,最后得出结论:引入自适应的模糊PI控制器在系统启动阶段能够减小超调量,使系统进入稳态更加平稳,突加负载时可以令系统更快回复到稳态;最终使得系统的总体性能得到显著提升。最后,在原系统中添加位置环,构建三闭环伺服系统,讨论自适应模糊PI算法在位置环中的应用,保持P调节量主导地位不变,立足于减小I参数输出,从而获取新的规则库;经过仿真实验,结果表明:自适应模糊算法在位置环的运用,可以有效地提高系统对转子位置的跟踪能力,增强系统抗扰动性能。
[Abstract]:PMSM servo system has many problems, such as nonlinearity, time-varying parameters, load disturbance and so on. In the face of these problems, the traditional Pi control strategy often can not achieve the ideal parameter tracking and load immunity performance, showing a great deal of limitations. Aiming at this kind of problem, this paper designs a kind of solution, the conception steps are summarized as follows: firstly, based on the analysis and derivation of the mathematical model established by PMSM in three kinds of coordinate systems, the electromagnetic equation of PMSM is obtained, and the vector control mode of PMSM is chosen. Aiming at the speed loop control of PMSM servo system, the fuzzy control rules are obtained by refining the expert experience knowledge, and a Pi controller combining fuzzy rules is designed in order to get rid of the dependence on the precision of the mathematical model of the controlled object. The purpose of improving the system's ability to track load change and adapt to parameter change. The system model of SVPWM modulation is constructed by using Matlab/Simulink platform, and given a lower speed to start. The feasibility of the assumption is verified by simulation. The results show that the fuzzy Pi controller can effectively eliminate overshoot at a given speed. The robustness of the system is improved and the adaptability of the system to load changes is enhanced. Secondly, based on the fuzzy Pi controller, the adaptive mechanism is introduced to enhance the dynamic and static performance of the controller. Based on the original fuzzy Pi controller, an adaptive module is constructed, and a new rule base is taken to output different adjustment parameters. Given a higher speed to start, the effect of the scheme is verified by simulation again. Finally, it is concluded that the introduction of adaptive fuzzy Pi controller can reduce the overshoot in the starting stage of the system, and make the system stable and stable. Sudden loading can make the system return to steady state more quickly, and improve the overall performance of the system significantly. Finally, the position loop is added to the original system, and the three-loop servo system is constructed. The application of the adaptive fuzzy Pi algorithm in the position loop is discussed. The simulation results show that the application of the adaptive fuzzy algorithm in the position loop can effectively improve the tracking ability of the system to the rotor position and enhance the anti-disturbance performance of the system.
【学位授予单位】：江西理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273;TM341

【参考文献】