摘要
永磁同步电机(PMSM)伺服系统在工农业生产和航天技术等领域的应用十分广泛,由于其自身的结构和运行特点,PMSM具有许多独特的优点,本论文主要从控制策略和实际系统两个方面对永磁同步电机伺服系统进行了全面而深入的研究。
首先分析了永磁同步电机的数学模型,并对交流伺服系统中关键的空间矢量脉宽调制原理及实现进行了论述。
考虑到永磁同步电机是一个复杂耦合的非线性系统,应用直接反馈线性化理论,通过对输出变量进行李微分,得到所需的的坐标变换和非线性系统状态反馈实现了永磁同步电机的输入输出线性化,同时实现了系统的解耦。它与传统的PID控制相比,有很好的跟踪性能。针对负载扰动对系统的影响,增加了负载转矩扰动观测器来减小负载扰动的影响。最后,考虑到实际电机参数变化及负载扰动等不确定因素的影响,提出了灰色预测与反馈线性化相结合的方法来降低电机参数及不确定因素对系统控制器的影响。
针对永磁同步电动机这一非线性系统,结合反推控制应用在永磁同步电动机位置伺服系统中,跟踪位置给定信号。其设计参数少,便于工程实现;另外反推控制是从Lyapunov稳定性出发来设计的,因此能够保证系统的稳定性。考虑永磁同步电动机实际运行过程中参数的变化,提出自适应与反推控制相结合的控制策略,能够有效抑制系统参数变化对系统速度跟踪伺服性能的影响。
为了降低成本,提高系统的可靠性,利用永磁同步电动机定子交轴电流和转速度方程来构造了一降维线性Luenberger观测器来获得电机转速,采用反推控制来设计速度和电流控制器。通过仿真表明,这一方法是可行的,且系统具有快速的速度跟踪和转矩响应,
依托浙江省科技计划重点项目“基于DSP控制的平缝机智能控制系统”,把反推控制策略应用与实际系统中,取得了良好的效果,并完成了项目的研制。
In the last several decades, the Permanent magnet synchronous motor(PMSM) is implied on many kinds of drive systems, compared with other motors, the PMSM has many individual features. At the dissertation, The control strategies and the practicality system are studied with PMSM servo systems.At first, the mathematical model of PMSM is presented. The way of SVPWM is discussed which is key on servo systems.PMSM is a nonlinear system with significant coupling. This paper applies the direct feedback linearization (DFL) theory. The appropriate coordinate transformation and nonlinear state feedback are obtained through Lie deriving the output variable, with which the PMSM system is input-output linearized. Furthermore, which realizes the completely dynamic decoupling, the method proposed in this paper has better speed tracking performances. The observer of disturbance torque is applied, and reduce the effect of torque disturbance to speed. In the end, the way with grey prediction reduce the effect which the lumped uncertainty and parameter are variety.The study bring forward backstepping control based on nonlinear control strategy which is applied to the position tracking controller design of PMSM servo system. The way has little designed parameter and it can easy realize. The design rule of backstepping makes the system global asymptotical stabilization with Lyapunov function. Finally, adaptive Backstepping control is applied to the position tracking control of PMSM with uncertain parameters.In order to decrease the cost and improve the reliability of system. PMSM speed is acquired through reduced-order Luenberger observer constructed through stator q-axis current and speed equations. The observer is simple and can achieve fast convergence through eigenvalues placement.Combined with Zhejiang province important science and technology reseach item"the intelligent control system of sewing based on DSP".it combined with practice system, and the item has finely effect.
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