无轴承异步电机及其滑模变结构控制系统研究

发布时间：2018-07-30 08:13

【摘要】：无轴承异步电机(Bearingless Induction Motors,BIM)集电机旋转与悬浮功能为一体,具有无摩擦、无需润滑、寿命长、能实现高速、高精运行等优于普通电机的特性,在涡轮分子泵、飞轮电池、航空航天、潜水艇、无菌车间、真空技术、生命科学等领域展现出了极其重要应用价值。本文在国家自然科学基金项目(51475214)和江苏省自然科学基金项目(BK20141301)的资助下,对BIM数学模型、气隙磁场定向控制、基于新型趋近律的滑模变结构控制、基于负载转矩观测器的滑模变结构控制、数字控制系统展开研究,主要研究内容如下:1.概述无轴承电机的研究背景、国内外研究状况和BIM的研究状况、发展趋势。分析了BIM的运行机理,建立其旋转数学模型和径向力数学模型。针对电磁转矩与径向力的耦合问题,构造了基于气隙磁场定向控制的BIM解耦控制系统。2.针对BIM控制系统在扰动下(参数变化、负载突变等)性能不佳的问题,提出一种基于自变速指数趋近律的BIM滑模控制方法。首先,为抑制滑模算法中的固有抖振,在传统指数趋近律中引入一阶范数,并对符号函数进行平滑处理,设计了一种自变速指数趋近律。然后,通过该趋近律设计了BIM转速环的滑模控制器,构建了BIM滑模调速控制系统。仿真结果表明该方法可实现对给定转速的精确追踪,改善了BIM的调速品质。3.为进一步改善BIM控制系统在扰动工况下的控制性能,在已构建的滑模调速控制系统的基础上,设计了负载转矩滑模观测器对转矩进行观测,并将输出作为系统的扰动补偿,提供扰动变化所需的电流。同时,利用积分辨识算法实现了对转动惯量的在线识别及对观测器的实时更新。仿真结果表明,该控制策略对系统不确定扰动具有较强鲁棒性,提高了BIM控制系统的动、静态性能。4.以D SP TMS320F2812为核心搭建了滑模数字控制系统实验平台,并进行了电机旋转、转子悬浮及抗扰动能力实验研究。由实验结果可知,所提新型滑模控制策略不仅提高了BIM调速系统的抗扰动能力和运行品质,而且有效地削弱了滑模系统的固有抖振。
[Abstract]:The bearingless asynchronous motor (Bearingless Induction motors has the features of motor rotation and suspension, no friction, no lubrication, long life, high speed, high precision operation, etc., in turbo molecular pump, flywheel battery, aerospace, etc. Submarine, aseptic workshop, vacuum technology, life science and other fields have shown extremely important application value. In this paper, with the support of the National Natural Science Foundation of China (51475214) and the Natural Science Foundation of Jiangsu Province (BK20141301), the BIM mathematical model, the air-gap magnetic field oriented control, and the sliding mode variable structure control based on the new approach law are studied. Sliding mode variable structure control based on load torque observer and digital control system are studied. The main contents are as follows: 1. This paper summarizes the research background of bearingless motor, the research status at home and abroad and the research status and development trend of BIM. The operation mechanism of BIM is analyzed, and its rotating mathematical model and radial force mathematical model are established. Aiming at the coupling between electromagnetic torque and radial force, a BIM decoupling control system based on air-gap field-oriented control is constructed. In order to solve the problem of poor performance of BIM control system under disturbance (parameter variation, load mutation, etc.), a BIM sliding mode control method based on self-variable exponential approach law is proposed. Firstly, in order to suppress the inherent chattering in sliding mode algorithm, the first order norm is introduced into the traditional exponential approach law, and the symbol function is smoothed, and a self-variable exponential approach law is designed. Then, the sliding mode controller of BIM speed loop is designed by the approach law, and the BIM sliding mode control system is constructed. The simulation results show that this method can accurately track the given speed and improve the speed regulation quality of BIM. In order to further improve the control performance of BIM control system under disturbed conditions, a load torque sliding mode observer is designed to observe the torque on the basis of the established sliding mode speed control system, and the output is taken as the disturbance compensation of the system. Provide the current required for the disturbance change. At the same time, the on-line recognition of moment of inertia and the real-time updating of the observer are realized by the integral identification algorithm. The simulation results show that the proposed control strategy is robust to the uncertain disturbances of the system and improves the dynamic and static performance of the BIM control system. The experimental platform of sliding mode digital control system is built with D SP TMS320F2812 as the core, and the experimental research on motor rotation, rotor suspension and anti-disturbance ability is carried out. The experimental results show that the proposed new sliding mode control strategy not only improves the anti-disturbance ability and running quality of the BIM speed control system, but also effectively weakens the inherent chattering of the sliding mode system.
【学位授予单位】：江苏大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TM343;TP273

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