含复杂干扰的电机控制系统设计及应用

发布时间：2018-11-11 20:43

【摘要】：本文课题来源于国家自然基金及云南省应用基础研究计划,旨在研究能够抑制电机控制系统中存在的复杂干扰的控制算法,来提高电机系统的控制性能。本文设计了几个具有抗干扰能力的控制器,并通过仿真来验证抗干扰算法的有效性,最后在实验平台上实现了永磁同步电机的速度控制。首先,由于电机系统常常会受到各种干扰的影响,导致电机转速产生波动,其中最直接的因素就是电机供电电流存在较大的谐波含量。而随着清洁能源的发展,像光伏等新能源发电越来越普遍,但是这些发电系统产生的电能中存在大量谐波,这会影响供电质量,而供电质量常常又影响电机等用电设备。所以本文首先研究了一种由PI控制和重复控制组成的复合控制器来抑制发电系统逆变器输出电流的谐波含量,同时为了提高控制系统的鲁棒性,本文又分析了高阶重复控制的鲁棒性和稳定性,并和一阶重复控制对比得出一些有价值的结论。最后,通过仿真证明了重复控制在并网逆变器系统中的有效作用。其次,本文着重研究了永磁同步电机系统抗干扰控制技术,鉴于永磁同步电机系统中含有复杂的干扰,包括内部和外部扰动,例如摩擦,负载,扭矩和模型误差等,本文提出了一种基于未知输入观测器的控制器,其中干扰观测器可以补偿掉这些干扰,减小电机输出速度误差,提高电机的控制精度。同时还与其他观测器做了对比。通过仿真证明了提出的抗干扰控制器的跟踪和抑制性能。然后,由于常规电机速度闭环控制使用机械速度传感器,为了减小硬件成本及降低因传感器引起的系统故障率,本文还研究了一种无速度传感器控制技术。首先设计自适应速度观测器来估算转子速度已形成速度闭环控制,接着针对系统中存在的复杂干扰,引入前面提出的基于未知输入观测器的抗干扰控制策略。最后通过仿真对比验证了该方法的有效性,提高了永磁同步电机无速度传感器控制系统的精度。最后,研究了基于DSP2812控制器的永磁同步电机矢量控制调速系统的设计和实验,从硬件和软件两方面介绍了永磁同步电动机矢量控制系统。在实验过程中,通过上位机软件CCS得到正确的相关变量图形,如速度,电流等波形。且通过示波器查看永磁同步电机控制系统中的PWM等波形。
[Abstract]:This paper comes from the National Fund for Nature and the Yunnan Province Applied basic Research Program. The purpose of this paper is to study the control algorithm which can suppress the complex interference in the motor control system and improve the control performance of the motor system. In this paper, several anti-jamming controllers are designed, and the effectiveness of the anti-jamming algorithm is verified by simulation. Finally, the speed control of PMSM is realized on the experimental platform. First of all, the motor system is often affected by various kinds of interference, resulting in the motor speed fluctuations, the most direct factor is that the motor power supply current has a large harmonic content. With the development of clean energy, new energy generation, such as photovoltaic, is becoming more and more common. However, there are a lot of harmonics in the electricity generated by these power generation systems, which will affect the quality of power supply, and power supply quality often affects electrical equipment such as motor. So this paper first studies a compound controller composed of PI control and repetitive control to suppress the harmonic content of inverter output current in power system, and in order to improve the robustness of the control system, In this paper, the robustness and stability of high-order repetitive control are analyzed, and some valuable conclusions are obtained compared with first-order repetitive control. Finally, the effectiveness of repetitive control in grid-connected inverter system is proved by simulation. Secondly, the anti-interference control technology of permanent magnet synchronous motor (PMSM) system is studied. In view of the complex interference in PMSM system, including internal and external disturbances, such as friction, load, torque and model error, etc. In this paper, a controller based on unknown input observer is proposed, in which the disturbance observer can compensate these disturbances, reduce the output speed error of the motor and improve the control accuracy of the motor. At the same time, it is compared with other observers. The tracking and suppression performance of the proposed anti-jamming controller is proved by simulation. Then, in order to reduce the hardware cost and reduce the failure rate of the system caused by the sensor, a speed sensorless control technology is also studied because the conventional motor speed closed-loop control uses the mechanical speed sensor. Firstly, adaptive speed observer is designed to estimate rotor speed to form speed closed loop control. Then, an anti-interference control strategy based on unknown input observer is proposed for complex disturbance in the system. Finally, the effectiveness of the method is verified by simulation, and the precision of the speed sensorless control system of PMSM is improved. Finally, the design and experiment of vector control system of permanent magnet synchronous motor based on DSP2812 controller are studied. The vector control system of permanent magnet synchronous motor is introduced from two aspects of hardware and software. In the process of experiment, the correct graph of related variables, such as velocity, current and so on, is obtained by CCS. And through the oscilloscope to check the permanent magnet synchronous motor control system, such as PWM waveform.
【学位授予单位】：昆明理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273

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