摘要
随着现代工业的发展和对驱动系统性能要求的不断提高,交流伺服系统已逐步进入了数字化和智能化的阶段。全数字交流伺服系统具有很强的灵活性,实现新的控制策略只需改动软件即可,大大方便了各种智能控制算法的实现。
交流伺服系统受机械参数变化影响较大,若不及时进行调整,会使控制系统性能变坏,出现震荡、爬行以及动静态性能变差等一系列问题。这里的机械参数主要是指系统的转动惯量(包括电机转子转动惯量和负载的转动惯量)和负载转矩两部分。
永磁同步电机在伺服系统应用中,负载转动惯量的变化往往比较大,这会对系统的机械特性造成明显的影响。若能使系统自身具有辨识转动惯量,并根据辨识值进行自我调整控制器参数的功能,那么这无疑将对交流伺服系统的应用有着非常重要的意义。本文对电机转动惯量的一些辨识方法进行了初步研究,并对其中的自适应辨识和速度环自整定算法作了仿真和实验研究。
负载转矩的变化对系统性能的影响也非常明显,需要在线进行动态补偿。但负载转矩同转动惯量一样,也是一个很难直接测量的非电物理量,需进行在线辨识。本文构建了一个负载转矩辨识观测器,将观测到的值动态的补偿到速度环中,有效提高了速度环抗扰性能,增强了系统鲁棒性。
在以上结论的基础上,本文对伺服系统的三闭环控制性能进行了进一步的实验研究,并给出了软件设计方法和实验结果,最后对全文进行了总结。
With the development of modern industrialization and the improved performance of system, AC servo system has come into digital and intelligent era. All digital AC servo system is excellently flexible so that we can easily implement new control strategies without ameliorating system hardware, which is greatly convenient to realize intelligent control strategies.
The performance of AC servo system is highly influenced by uncertainties of unpredictable variation of mechanical parameters and external load disturbances. In order to enhance the system static and dynamic performances, it is necessary to identify the mechanical parameters and auto-tune the speed controller.
Several parameter identification methods especially the online identification method of system inertia based on MRAC are proposed in this dissertation. Then, the scheme for auto-tuning the speed controller is presented as well. The experiment results suggest that this algorithm is feasible.
The load torque is also difficult to be measured directly, so it needed to be online identified. This dissertation adopt a compensate control algorithm, which could dynamically compensate speed variation. The experiment results show that, this compensatory control strategy obviously enhanced system robustness.
According to the characteristics of LF2407A, specific designs of software and program flowcharts are presented. Based on those identification and compensation results mentioned above, more experiments studies on the control performance of multi-loop system are conducted. A summery of whole thesis is given in the end.
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