摘要
自二十世纪80年代以来,永磁同步电机以其体积小、功率密度大、效率高、维护简单等优点,越来越广泛地被应用于交流伺服系统中,利用交流伺服电动机构成的系统也越来越呈现多样化和复杂化,对伺服系统提出了更高的控制要求。永磁同步交流伺服技术随之得到了迅速发展,但是大多数方案复杂且不易实现。近来,系统镇定的能量整形方法开始受到了学者们的关注,将闭环系统的能量存储函数作为系统的Lyapunov函数来设计,在保留原有系统结构不变的基础上,使得系统稳定性分析更加简单,设计的闭环系统物理意义更加明确。本文的研究工作主要是围绕耗散哈密顿实现在永磁同步矢量控制系统中的应用开展的。全文的结构概括如下：
1.介绍了本文的研究背景。首先综述了交流电机控制策略的发展历程,研究现状。随后介绍了能量整形方法的发展,理论基础以及应用。最后基于课题背景阐述了研究永磁同步伺服系统先进控制策略的必要性。
2.介绍了微分流形、输入输出稳定性、耗散性、保守性等概念的定义和稳定性判据一些重要理论。随后引入了端口受控耗散哈密顿系统无源控制方法和反馈耗散哈密顿实现方法。然后对本文的研究对象：永磁同步电机的数学模型进行了介绍,同时对不同的电流控制方法进行了比较。
3.基于端口受控耗散哈密顿的无源控制实现方法,首先对永磁同步电机进行了端口耗散哈密顿模型建模,在设计负载扰动观测器的基础上,设计了速度反馈镇定控制器,提出增益参数切换方法,提高了控制系统的动态性能。其次利用前馈补偿控制器,提出了基于能量整形思路的位置伺服控制方案。
4.基于反馈耗散哈密顿实现方法,设计了永磁同步电机速度控制器,利用增益调度控制方法,提高了系统的动态性能。提出滑模变结构-反馈耗散哈密顿混合控制方法,在保证系统稳定性能的同时,增加了系统在动态变化过程中的鲁棒性能。针对伺服系统高性能控制时对电机参数的高精度要求,利用自适应反馈耗散哈密顿实现方法,设计出结合转子磁链更新律的永磁同步电机速度控制器,提高了伺服系统的控制精度。
5.针对在非线性预测控制中,通常对非线性系统难以进行求解Taylor级数的问题,本文利用自动微分理论,对永磁同步电机非线性数学模型进行Taylor展开,建立了基于Taylor级数的衡量指标函数,利用自动微分理论的灵敏度矩阵求解方法,将自动微分方法应用到了永磁同步电机的预测控制设计中。
6.基于课题背景,介绍了交流伺服系统实验平台的组成,并进行了实验波形分析。
Permanent magnet synchronous motors have advantages such as small size, high power density, great efficiency, easy maintenance, etc, and they have been more and more widely used in AC server system since 1980s. As the applications of AC servomotors become more and more complex, higher requests are submitted. Permanent magnet AC servo techniques have grown rapidly, but most of them are complicated and not easy to realize. Recently, the energy-shaping methods for stabilization of physical systems have received increasing attention from scholars. The main characteristic of it is that the closed loop's energy storage function is chosen as Lyapunov function, which can keep system structure preserved, make system's stability analysis simpler and physical meaning of closed loop more clearly. This paper aims at the permanent magnet synchronous motor vector control with dissipation Hamilton realization. The main contents are as following parts.
1. The research background is presented in the first part. First of all, an overview of AC motor control strategy for the development and latest researches are given. Then we represent the energy-shaping method's development, its theoretical basis and applications. The necessity of researching advanced control strategy for permanent magnet synchronous servo system is also brought out based on subject's background at last.
2. We review the definitions of differentiable manifold, input-output stability, passivity, conservative, stability criterion and some important theories. Then the port-controlled Hamilton with dissipation control theory and feed-back dissipation Hamilton realization theory are described. The mathematical model of permanent magnet synchronous motor is brought out and a comparison of different current control methods is made.
3. We build the permanent magnet synchronous motor's port-controlled dissipation model with port-controlled Hamilton with dissipation theory. Based on the load disturbance observer, a feedback speed stabilization controller is designed. In order to improve control system's dynamic performance, we propose control method with variable coefficients. Then a position servo control proposal with energy-shaping method is proposed, which uses a feed forward compensation controller to improve the system's tracking performance.
4. Based on the feedback dissipative Hamilton realization theory, we design the permanent magnet synchronous motor speed controller. Gain scheduling method is used to improve system's dynamic performance. We propose a sliding-feedback dissipation Hamilton hybrid control method to enhance system's robust performance while keeping the stability properties at the same time. To meet the precision electrical parameters requirements for high-performance servo system, based on adaptive feedback dissipative Hamilton realization method, we proposed a flux adaptive control method with energy-shaping. The method improves the servo system's control precision.
5. Aiming at the problem that Taylor series is not easy to obtain in nonlinear predictive control, we bring out the Taylor series expansion of permanent magnet synchronous motor mathematical model built on automatic differentiation method. Then sensitivity matrix of performance function is also solved by automatic differentiation method. The automatic differential method is applied to nonlinear predictive control of permanent magnet synchronous motor. The nonlinear predictive control based on automatic differentiation makes the process of solving Taylor series problem simple.
6. Based on the project background, this paper introduces the composition of the AC servo experimental platform, and analyses the experimental waveform.
引文
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