高性能无传感器PMSMs控制系统的研究与应用
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摘要
随着科学技术的日新月异,尤其是计算机技术、微电子技术、现代控制理论的发展,交流电机(指电动机,以后本文中“电机”皆指“电动机”)的驱动及其控制技术都得到了迅猛发展,使得交流伺服系统在现代工业系统中的应用也越来越广泛,将逐步取代直流伺服系统。交流永磁同步电机(Permanent MagnetSynchronous Motors,PMSMs)具有气隙磁密高、转矩脉动小、转矩/惯量比大、效率高、结构简单等优点,在要求高控制精度和高可靠性的场合,如航空航天、数控机床、雷达与各种军用武器跟随系统以及机器人等行业获得了广泛的应用,在现代交流电机中占有举足轻重的地位。
高性能的电机传动系统需要高精度、高分辨率的位置/速度传感器实现闭环控制,位置/速度传感器的存在增大了系统成本和体积,增加了系统复杂程度,降低了系统可靠性,甚至在一些特殊环境中,这些传感器都无法使用或安装。因此,借助于一些先进的控制算法在无机械传感器的情况下,只提取电流或电压信号,以估算电机的转速和转子位置,实现电机自同步运行的方案引起了研究者的极大兴趣。无传感器控制技术(Sensorless Control或Self-sensing Control)是近些年来在交流伺服电机控制技术中最为活跃的一个领域,将成为未来发展的一个重要方向。
本文以现代化络筒机中做高速往返运动的导纱装置为应用背景,基于磁场定向控制(Field Oriented Control,FOC)原理,研究并提出了永磁同步电机的高性能无传感器控制系统,本文的主要内容包括:
1、讨论了永磁同步电机的结构及其数学模型,包括在三个坐标系上的电压方程,磁链方程,输出转矩及功率方程。
2、提出了基于模型参考自适应控制理论的永磁同步电机快速转速观测器(Quick Speed Observer,QSO),相比较已有文献提出的转速观测器,该观测器显著地提升了观测速度,可以满足高速往复运动的工作需求,并对该观测器的稳定性及快速观测性能进行了理论分析。
3、提出了基于滑模变结构控制理论的电流环鲁棒控制器(Current-LoopRobust Controller,CLRC),并重点针对滑模变结构控制存在的抖振问题,给出了三种方法对该控制器进行了抖振削弱处理,使得该控制器在具有很好的鲁棒性同时还具有优良的动态性能,对本控制器的鲁棒性、稳定性、动态性能也给出了理论分析。
4、基于磁场定向控制基本原理,结合已提出的快速转速观测器及电流环鲁棒控制器,给出了高性能无传感器永磁同步电机控制系统的实现方法。
5、结合本课题的应用背景,利用Matlab/Simulink,对本文提出的高性能无传感器控制系统进行了建模、仿真分析,验证算法的正确性。同时给出了系统的软硬件设计,通过实验,证明了本文提出的系统符合工程应用背景的要求。
6、对本文进行总结,指出创新点及存在的不足,对将来进一步的研究提出了展望。
With the ever-changing science and technology,particularly the development of computer technology,micro-electronics technology,modern control theory,the drive and control technology of AC motors has been rapidly developed.So the AC servo system in the modern industrial system has become increasingly widespread,and the AC servo system will gradually replace the DC servo system.Permanent magnet AC synchronous motors are usually used in the high precision control and high reliability Occasions because of its high flux density,small torque ripple,high ratio of torque/volume,high efficiency and simple structure,such as aerospace,numerical control machine tools,a variety of military radar,weapon systems and the robot industry.Due to the wide range of applications PMSMs occupy a pivotal position in modern AC motors.
High-performance motor drive system needs high-precision and high-resolution position/speed sensor to achieve closed-loop control.The existence of these sensors increases the cost and size of the system,increases in the complexity of the system, and reduces the reliability of the system.Even more these sensors can not be used or installed even in some special circumstances.As a result,with the help of a number of advanced control algorithms in the absence of mechanical sensors,extracting only current or voltage signal to estimate the location and speed of the rotor to achieve sensorless control as the program has aroused great interest from researchers. Sensorless control technology has become one of the most active fields in recent years in the AC servo motor control technology and will become an important future development direction.
This article takes the high-speed traverse thread-guide device of modern winder as the application background,based on the principle of Field Oriented Control(FOC), research and carry out the high-performance sensorless control system of PMSMs. This article includes:
1.Discussed the structure of the permanent magnet synchronous motor and its mathematical models,including three in the coordinates on the voltage equation,the flux equation,the equation of power and torque output.
2.Bring out with a Quick Speed Observer(QSO) for PMSMs based on the theory of Model Reference Adaptive Control(MRAC).Compared with the observers brought forward previously,the observer significantly improved the speed of observation,and meet the work requirement of high-speed movement back and forth. Meanwhile the stability and quick observation performance are analyzed theoretically.
3.Put forward the Current-loop Robust Controller(CLRC) based on the theory of Sliding Model Control(SMC).Aiming at weakening the problem of vibration caused by SMC,three ways are presented,which ensure the robust and excellent dynamic performance of the controller.The robust,stability and dynamic performance of the controller are analyzed theoretically.
4.Based on the principle of FOC,combined the QSO and CLRC,carry out the high-performance sensorless control system of PMSMs.
5.Considering the application background,using Matlab/Simulink,model, simulate and analyze the system to test the validity of the system.Through the experiments,the applicability to the application background of this system is verified too.
6.Summarize the article,open up the innovative points and deficiencies,and point out the prospect of the farther research.
高性能的电机传动系统需要高精度、高分辨率的位置/速度传感器实现闭环控制,位置/速度传感器的存在增大了系统成本和体积,增加了系统复杂程度,降低了系统可靠性,甚至在一些特殊环境中,这些传感器都无法使用或安装。因此,借助于一些先进的控制算法在无机械传感器的情况下,只提取电流或电压信号,以估算电机的转速和转子位置,实现电机自同步运行的方案引起了研究者的极大兴趣。无传感器控制技术(Sensorless Control或Self-sensing Control)是近些年来在交流伺服电机控制技术中最为活跃的一个领域,将成为未来发展的一个重要方向。
本文以现代化络筒机中做高速往返运动的导纱装置为应用背景,基于磁场定向控制(Field Oriented Control,FOC)原理,研究并提出了永磁同步电机的高性能无传感器控制系统,本文的主要内容包括:
1、讨论了永磁同步电机的结构及其数学模型,包括在三个坐标系上的电压方程,磁链方程,输出转矩及功率方程。
2、提出了基于模型参考自适应控制理论的永磁同步电机快速转速观测器(Quick Speed Observer,QSO),相比较已有文献提出的转速观测器,该观测器显著地提升了观测速度,可以满足高速往复运动的工作需求,并对该观测器的稳定性及快速观测性能进行了理论分析。
3、提出了基于滑模变结构控制理论的电流环鲁棒控制器(Current-LoopRobust Controller,CLRC),并重点针对滑模变结构控制存在的抖振问题,给出了三种方法对该控制器进行了抖振削弱处理,使得该控制器在具有很好的鲁棒性同时还具有优良的动态性能,对本控制器的鲁棒性、稳定性、动态性能也给出了理论分析。
4、基于磁场定向控制基本原理,结合已提出的快速转速观测器及电流环鲁棒控制器,给出了高性能无传感器永磁同步电机控制系统的实现方法。
5、结合本课题的应用背景,利用Matlab/Simulink,对本文提出的高性能无传感器控制系统进行了建模、仿真分析,验证算法的正确性。同时给出了系统的软硬件设计,通过实验,证明了本文提出的系统符合工程应用背景的要求。
6、对本文进行总结,指出创新点及存在的不足,对将来进一步的研究提出了展望。
With the ever-changing science and technology,particularly the development of computer technology,micro-electronics technology,modern control theory,the drive and control technology of AC motors has been rapidly developed.So the AC servo system in the modern industrial system has become increasingly widespread,and the AC servo system will gradually replace the DC servo system.Permanent magnet AC synchronous motors are usually used in the high precision control and high reliability Occasions because of its high flux density,small torque ripple,high ratio of torque/volume,high efficiency and simple structure,such as aerospace,numerical control machine tools,a variety of military radar,weapon systems and the robot industry.Due to the wide range of applications PMSMs occupy a pivotal position in modern AC motors.
High-performance motor drive system needs high-precision and high-resolution position/speed sensor to achieve closed-loop control.The existence of these sensors increases the cost and size of the system,increases in the complexity of the system, and reduces the reliability of the system.Even more these sensors can not be used or installed even in some special circumstances.As a result,with the help of a number of advanced control algorithms in the absence of mechanical sensors,extracting only current or voltage signal to estimate the location and speed of the rotor to achieve sensorless control as the program has aroused great interest from researchers. Sensorless control technology has become one of the most active fields in recent years in the AC servo motor control technology and will become an important future development direction.
This article takes the high-speed traverse thread-guide device of modern winder as the application background,based on the principle of Field Oriented Control(FOC), research and carry out the high-performance sensorless control system of PMSMs. This article includes:
1.Discussed the structure of the permanent magnet synchronous motor and its mathematical models,including three in the coordinates on the voltage equation,the flux equation,the equation of power and torque output.
2.Bring out with a Quick Speed Observer(QSO) for PMSMs based on the theory of Model Reference Adaptive Control(MRAC).Compared with the observers brought forward previously,the observer significantly improved the speed of observation,and meet the work requirement of high-speed movement back and forth. Meanwhile the stability and quick observation performance are analyzed theoretically.
3.Put forward the Current-loop Robust Controller(CLRC) based on the theory of Sliding Model Control(SMC).Aiming at weakening the problem of vibration caused by SMC,three ways are presented,which ensure the robust and excellent dynamic performance of the controller.The robust,stability and dynamic performance of the controller are analyzed theoretically.
4.Based on the principle of FOC,combined the QSO and CLRC,carry out the high-performance sensorless control system of PMSMs.
5.Considering the application background,using Matlab/Simulink,model, simulate and analyze the system to test the validity of the system.Through the experiments,the applicability to the application background of this system is verified too.
6.Summarize the article,open up the innovative points and deficiencies,and point out the prospect of the farther research.
引文
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