铁氧体永磁伺服电机驱动控制系统研究

发布时间：2018-05-12 22:06

本文选题：铁氧体伺服电机 + 参数特性　；参考：《湖北工业大学》2017年硕士论文

【摘要】：为了解决伺服电机性能和成本之间的矛盾,一种新型的铁氧体永磁辅助式磁阻同步伺服电机(以下简称铁氧体伺服电机),其作为一种新型的永磁电机,同时具有内置式永磁同步电机和同步磁阻电机的特性,且制造成本更低,性价比高,高温性能稳定,不存在过压风险,恒功率范围宽、可宽范围调速等优点,在伺服驱动系统中有着良好的应用前景。本文以铁氧体伺服电机驱动控制系统为研究对象,在研究铁氧体伺服电机特有的控制特点的基础上,对铁氧体伺服电机的起动策略和恒转矩区MTPA控制策略、效率优化策略进行研究。本文首先对铁氧体伺服驱动系统的电机本体进行电磁设计,对电机的转子结构优化选择,不同极槽配合的研究,仿真确定铁氧体伺服电机最优电磁方案。利用场路结合法计算铁氧体电机的参数,并详细对比研究铁氧体伺服电机特有的转矩特性。针对铁氧体伺服电机特有的特点,进行控制分析,并建立驱动系统场路联合仿真平台。然后针对铁氧体伺服电机特有的特性导致其起动和初始位置定位困难,提出改进的磁定位起动策略,同时引入了零度位置辨识与补偿算法,实现电机平滑稳定起动。为了获取更加准确的初始位置信息,提出了双参考坐标系初始位置估计策略,采用双坐标理论,完成对初始位置的象限判断、割线法求估计误差角,实现对铁氧体伺服电机的初始位置精确估计。其次针对铁氧体电机参数变化复杂的问题,提出了不依赖于电机参数的在线变步长搜索最小直轴电流补偿算法,可根据定子电流幅值变化改变搜索步长和方向,从而更快的逼近最小直轴电流补偿点,有效的解决搜索缓慢和震荡问题,恒定转矩的情况下电流最小、系统效率最高。最后设计制作了铁氧体伺服电机样机,设计了铁氧体伺服电机驱动系统电机驱动驱动硬件方案,针对提出的起动策略、MTPA控制与效率优化策略编写相应的驱动系统软件,构建驱动系统实验平台,在此平台上进行全面的实验研究,验证电机本体的设计性能和控制策略的有效性。实验结果表明:设计的铁氧体样机的电感参数特性、反电动势与仿真设计结果吻合。起动策略能有效平稳起动电机,初始位置精确估计策略可快速的收敛至估计值,估计误差小,准确的估计初始位置。采用本文研究的在线变步长最小直轴电流搜索补偿策略可以同时实现铁氧体伺服电机MTPA控制和效率优化,提高铁氧体电机稳态运行效率及可靠性,从而提高铁氧体伺服电机驱动系统整体控制性能。
[Abstract]:In order to solve the contradiction between performance and cost of servo motor, a new type of ferrite permanent magnet assisted magnetoresistive synchronous servo motor (hereinafter referred to as ferrite servo motor) is proposed as a new type of permanent magnet motor. At the same time, it has the characteristics of built-in permanent magnet synchronous motor and synchronous reluctance motor, and has the advantages of lower manufacturing cost, higher cost performance, stable performance at high temperature, no overvoltage risk, wide constant power range and wide range of speed regulation. It has good application prospect in servo drive system. This paper takes the ferrite servo motor drive control system as the research object. On the basis of studying the special control characteristics of the ferrite servo motor, the starting strategy and the constant torque MTPA control strategy of the ferrite servo motor are studied. Efficiency optimization strategy is studied. In this paper, the electromagnetic design of the motor body of the ferrite servo drive system is first carried out. The optimal electromagnetic scheme of the ferrite servo motor is determined by simulation and the optimal selection of the rotor structure and the coordination of different pole slots. The parameters of ferrite motor are calculated by field circuit combination method, and the specific torque characteristics of ferrite servo motor are compared and studied in detail. According to the characteristic of ferrite servo motor, the control analysis is carried out, and the field circuit simulation platform of drive system is established. Then aiming at the difficulty of starting and initial position positioning due to the unique characteristics of ferrite servo motor, an improved magnetic position starting strategy is proposed. At the same time, zero position identification and compensation algorithm is introduced to realize the smooth and stable starting of the motor. In order to obtain more accurate initial position information, a dual reference coordinate system initial position estimation strategy is proposed. The quadrant judgment of the initial position is completed by using the double coordinate theory, and the estimation error angle is obtained by the Secant method. The accurate estimation of the initial position of the ferrite servo motor is realized. Secondly, aiming at the complex change of ferrite motor parameters, an on-line variable step search minimum straight axis current compensation algorithm is proposed, which can change the search step size and direction according to the change of stator current amplitude. Thus the minimum straight axis current compensation point can be approached more quickly, and the search slow and oscillating problems can be solved effectively. The system efficiency is the highest and the current is the minimum under constant torque. Finally, a ferrite servo motor prototype is designed, and the drive hardware scheme of the ferrite servo motor driving system is designed. The corresponding driving system software is compiled for the MTPA control and efficiency optimization strategy proposed. The experimental platform of driving system is constructed, and a comprehensive experimental study is carried out on this platform to verify the design performance of motor ontology and the effectiveness of control strategy. The experimental results show that the inductance parameters and the back EMF of the ferrite prototype are in good agreement with the simulation results. The starting strategy can effectively and smoothly start the motor, and the precise estimation strategy of the initial position can quickly converge to the estimated value, and the estimation error is small, and the initial position can be estimated accurately. The on-line variable step minimum straight axis current search and compensation strategy studied in this paper can simultaneously realize the MTPA control and efficiency optimization of ferrite servo motor, and improve the steady-state operation efficiency and reliability of ferrite motor. In order to improve the overall control performance of ferrite servo motor drive system.
【学位授予单位】：湖北工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TM383.4;TP273

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