永磁同步电机交流伺服控制系统的研究
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摘要
论文首先介绍了永磁同步电机系统的数学模型,介绍了空间矢量脉宽调制(SVPWM)和电流滞环跟踪PWM(CHBPWM)的基本原理,并在MATLAB/SIMULINK环境下构建了基于SVPWM和CHBPWM的永磁同步电机交流伺服控制系统的仿真模型,并对仿真结果进行了比较。
永磁同步电机是具有非线性、强耦合性、时变性的系统。并且在运行过程中还要受到负载扰动等因素影响。
PID控制由于算法简单、可靠性高,广泛应用于运动控制中。但当对控制对象难以确定精确的数学模型,模型的结构和参数在很大范围内变化或者控制复杂的非线性系统时,传统的控制策略将难以满足控制性能要求,模糊控制就成为了有力工具。
本文设计了两种模糊控制器,将其应用到永磁同步电机矢量控制系统中,建立了系统模型并对其进行了仿真研究,并与传统的双闭环PI控制系统仿真结果进行了对比。仿真结果表明,模糊控制提高了控制系统稳定性、控制精度和快速性。
神经网络具有很强的自学习能力、非线性映射能力、联想记忆能力、鲁棒性和容错能力。能适应存在不确定性、时变性系统的控制。
针对传统PI控制永磁同步电机调速系统性能的不足,本文设计了单神经元PI控制器和神经网络控制器,将它们应用到永磁同步电机矢量控制系统速度环并进行了仿真分析,结果表明,采用单神经元PI控制和神经网络控制提高了控制系统稳定性、控制精度和快速性。
The mathematical model of AC PMSM (Permanent Magnet Synchronous Motor) is introduced, and then introduces the principles of SVPWM (Space Vector Pulse Width Modulation) and CHBPWM (Current Hysteresis Band PWM). Simulation models of PMSM AC servo system based on SVPWM and CHBPWM are built in MATLAB/SIMULINK, and simulation results are compared.
The permanent magnet synchronous motor is a non-linear, strong-coupling and time-variable system, and during operation it will be disturbed more or less by factors such as load disturbance.
PID control algorithm is simple, reliable, so it is widely used in motion control. However, it is limited to achieve the desired control effect in situations such as precise mathematical model of the control object is difficult to be built, or model structure and parameters change in a large range or the control object is complex non-linear system. As a result, fuzzy control becomes a good choice.
Two fuzzy control strategies are presented for speed control of PMSM vector control system, and simulation models are built. Compared with conventional PI control, simulation results show that the presented scheme improves stability, control accuracy and response speed of the control system.
The neural network has some excellent abilities such as self-learning, nonlinear mapping, and associative memory; also it has fine fault-tolerant capability and robustness. Algorithm based on the neural network has a promising potential use in control systems which have uncertainty and time-variation.
Speed loop of PMSM vector control system based on single neuron PI controller and neural network controller are designed to overcome the shortcomings of traditional PI controller in speed loop of PMSM vector control system. Simulation results show that the single neuron PI controller and neural network controller improve stability, control accuracy and response speed of the control system.
永磁同步电机是具有非线性、强耦合性、时变性的系统。并且在运行过程中还要受到负载扰动等因素影响。
PID控制由于算法简单、可靠性高,广泛应用于运动控制中。但当对控制对象难以确定精确的数学模型,模型的结构和参数在很大范围内变化或者控制复杂的非线性系统时,传统的控制策略将难以满足控制性能要求,模糊控制就成为了有力工具。
本文设计了两种模糊控制器,将其应用到永磁同步电机矢量控制系统中,建立了系统模型并对其进行了仿真研究,并与传统的双闭环PI控制系统仿真结果进行了对比。仿真结果表明,模糊控制提高了控制系统稳定性、控制精度和快速性。
神经网络具有很强的自学习能力、非线性映射能力、联想记忆能力、鲁棒性和容错能力。能适应存在不确定性、时变性系统的控制。
针对传统PI控制永磁同步电机调速系统性能的不足,本文设计了单神经元PI控制器和神经网络控制器,将它们应用到永磁同步电机矢量控制系统速度环并进行了仿真分析,结果表明,采用单神经元PI控制和神经网络控制提高了控制系统稳定性、控制精度和快速性。
The mathematical model of AC PMSM (Permanent Magnet Synchronous Motor) is introduced, and then introduces the principles of SVPWM (Space Vector Pulse Width Modulation) and CHBPWM (Current Hysteresis Band PWM). Simulation models of PMSM AC servo system based on SVPWM and CHBPWM are built in MATLAB/SIMULINK, and simulation results are compared.
The permanent magnet synchronous motor is a non-linear, strong-coupling and time-variable system, and during operation it will be disturbed more or less by factors such as load disturbance.
PID control algorithm is simple, reliable, so it is widely used in motion control. However, it is limited to achieve the desired control effect in situations such as precise mathematical model of the control object is difficult to be built, or model structure and parameters change in a large range or the control object is complex non-linear system. As a result, fuzzy control becomes a good choice.
Two fuzzy control strategies are presented for speed control of PMSM vector control system, and simulation models are built. Compared with conventional PI control, simulation results show that the presented scheme improves stability, control accuracy and response speed of the control system.
The neural network has some excellent abilities such as self-learning, nonlinear mapping, and associative memory; also it has fine fault-tolerant capability and robustness. Algorithm based on the neural network has a promising potential use in control systems which have uncertainty and time-variation.
Speed loop of PMSM vector control system based on single neuron PI controller and neural network controller are designed to overcome the shortcomings of traditional PI controller in speed loop of PMSM vector control system. Simulation results show that the single neuron PI controller and neural network controller improve stability, control accuracy and response speed of the control system.
引文
[1]崔丽丽,刘栋良.全数字交流伺服系统及其控制策略综述[J].伺服控制.2007,(3):16-18,26
[2]王健.现代交流伺服系统技术和市场发展综述[J].伺服控制.2007,(1):16-21
[3]舒志兵.交流伺服运动控制系统[M].清华大学出版社,2006
[4]郭庆鼎,孙宜标,王丽梅.现代永磁电动机交流伺服系统[M].中国电力出版社,2006
[5]陈伯时.电力拖动自动控制系统[M].机械工业出版社,2006
[6]孙丹.高性能永磁同步电机直接转矩控制[D].浙江大学博士学位论文.2004
[7]Zhong L,Eahman M.F,Hu W.Y,etc,Analysis of Direct Torque Control in Permanent Magnet Synchronous Motor Drives[J].IEEE Trans.on PE.1997,12(3):528-536
[8]陶永华.新型PD控制及其应用[M].机械工业出版社出版,2002
[9]Utkin VI.Variable structure systems with sliding modes[J].IEEE Trans.on AC,1977,22(2):212-222
[10]LIN F J,CHIU S L,SHYU K K.Novel sliding mode controller for synchronous motor drive[J].IEEE Transactions on Aerospace and Electronic Systems.1998,34(2):532-542
[11]孙业树,周新云等.永磁同步电机交流伺服系统模型参考模糊控制[J].微电机.2003,36(1):19-21
[12]El-Sousy,F.F.M.High-performance neural-network model-following speed controller for vector-controlled PMSM drive system[C].ICIT.2004,(1):418-424
[13]许振伟,蒋静坪,骆再飞.基于神经网络的永磁同步电动机模糊自适应控制[J].电力系统及其自动化学报.2003,15(3):49-52
[14]蔡智慧,唐忠,马士英.基于RBF神经网络的永磁同步电机在线辨识与模型参考自适应控制[J].华东电力.2008,36(2):108-111
[15]李志民,张遇杰.同步电动机调速系统[M].机械工业出版社,1996
[16]高景德,王祥珩,李发海.交流电机及其系统的分析[M].清华大学出版社,1993
[17]胡崇岳.现代交流调速技术[M].机械工业出版社,1998
[18]S.Morimoto,Y.Takeda.Current Phase Control Methods for Permanent Magnet Synchronous Motors[J],IEEE Trans.on PE,1990,5(2):478-486
[19]Pragasen Pillay,Ramu Krishnan.Modeling,Simulation,and Analysis of Permanent-Magnet Motor Drives,Part Ⅰ:The Permanent-Magnet Synchronous Motor Drive[J].IEEE Trans.on Ind.1989,25(2):445-453
[20]Pillay P.,Krishnan R..Modeling of Permanent Magnet Motor Drives[J].IEEE Trans.on Ind.1988,35(4):537-541
[21]詹阳.基于TMS320LF2407A的交流伺服电机控制系统[D].清华大学硕士学位论文.2004
[22]马志源.电力拖动控制系统[M].科学出版社,2004
[23]李永东.交流电机数字控制系统[M].机械工业出版社,2002
[24]Shigeo Morimoto.Wide-Speed Operation of Interior Permanent Magnet Synchronous Motors with High-Performance Current Regulator[J].IEEE transaction on industry applications.2000,30(4)
[25]苏彦民,李宏.交流调速系统的控制策略[M].机械工业出版社,1998
[26]龚云飞,富历新.基于Matlab的永磁同步电机矢量控制系统仿真研究[J].微电机.2007,40(2):33-36
[27]S.R.Bowes,Y.S.Lai.The relationship between space-vector modulation and regular-sampled PWM[J].IEEE Transactions on Industrial Electronics,1997,44(5):670-679.
[28]肖春燕.电压空间矢量脉宽调制技术的研究及其实现[D].南昌大学硕士学位论文.2005
[29]H.W.Van Der Broeck,Hans-Christoph Skudelny.Analysis and realization of a pulsewidth modulator based on voltage space vectors[J].IEEE Transactions on industry applications,1998,24(1):142-150.
[30]杨贵杰.空间矢量脉宽调制方法的研究[J].中国电机工程学报.2001,21(5):79-83
[31]陈伯时等.交流调速系统[M].机械工业出版社,1998
[32]吴守箴等.电气传动的脉宽调制控制技术[M].机械工业出版社,1999
[33]李颖,朱伯立,张威.Simulink动态系统建模与仿真基础[M].西安电子科技大学出版社,2004
[34]张春喜,廖文建,王佳子.异步电机SVPWM矢量控制仿真分析[J].电机与控制学报.2008,12(2):160-163
[35]康现伟,于克训,刘志华.空间矢量脉宽调制仿真及其谐波分析[J].电气传动自动化.2005,27(1):11-13
[36]陈先锋,舒志兵,赵英凯.基于矢量控制的PMSM位置伺服系统电流滞环控制仿真分析[J].电气传动.2006,36(6):19-22
[37]增光奇等.模糊控制理论与工程应用[M].华中科技大学出版社,2006
[38]刘曙光等.模糊控制技术[M].中国纺织出版社,2001
[39]易继锴,侯媛彬.智能控制技术[M].北京工业大学出版社,1999
[40]赵金,万淑芸.隶属函数分布对模糊控制交流调速性能的影响[J].电气传动.2004(3):9-12
[41]史婷娜,徐绍辉等.超声波电机模糊-PI双模自适应速度控制[J].电工技术学 报.2003,18(3):1-4
[42]范少泉.模糊控制在交流调整控制系统中的应用研究[D].东北电力大学硕士学位论文.2006
[43]刘金琨.先进PID控制MATLAB仿真(第二版)[M].电子工业出版社,2004
[44]朱卫华,杨向宇.永磁同步电动机调速系统新型模糊控制方法[J].微特电机.2005(6):29-31
[45]Guney I,Oguz Y,Serteller F.,Dynamic behaviour model of permanent magnet synchronous motor fed by PWM Inverter and fuzzy logic controller for stator phase current,flux and torque control of PMSM[C],IEMDC 2001:479-485
[46]Kuang-Yao Cheng,Ying-Yu Tzou.Fuzzy optimization techniques applied to the design of a digital PMSM servo drive[J],IEEE Transactions on Power Electronics,2004,19(4):1085-1099
[47]易继锴,侯媛彬.智能控制技术[M].北京工业大学出版社,1999:95-123
[48]邵伍周,唐忠等.基于RBF神经网络在线辨识的永磁同步电机单神经元PID 矢量控制[J].电力科学与技术学报.2007,22(2):48-52
[49]曾军.神经网络PID控制器的研究及仿真[D].湖南大学硕士学位论文.2004
[50]葛哲学,孙志强.神经网络理论与MATLAB R2007实现[M].电子工业出版社,2007
[51]冯宇,邱相艳,郝金光.采用神经网络控制的永磁同步电动机调速系统[J].微特电机.2006,(6):32-34
[52]李国勇.智能控制及其MATLAB实现[M].电子工业出版社,2005
[53]王江江.神经网络PID控制器在空调房间温度控制中的仿真研究[D].华北电力大学硕士学位论文.2003
[54]Faa-Jeng Lin,Chih-Hong Lin.A permanent-magnet synchronous motor servo drive using self-constructing fuzzy neural network controller[J].IEEE Transaction on Energy Conversion.2004,19(1):66-72
[2]王健.现代交流伺服系统技术和市场发展综述[J].伺服控制.2007,(1):16-21
[3]舒志兵.交流伺服运动控制系统[M].清华大学出版社,2006
[4]郭庆鼎,孙宜标,王丽梅.现代永磁电动机交流伺服系统[M].中国电力出版社,2006
[5]陈伯时.电力拖动自动控制系统[M].机械工业出版社,2006
[6]孙丹.高性能永磁同步电机直接转矩控制[D].浙江大学博士学位论文.2004
[7]Zhong L,Eahman M.F,Hu W.Y,etc,Analysis of Direct Torque Control in Permanent Magnet Synchronous Motor Drives[J].IEEE Trans.on PE.1997,12(3):528-536
[8]陶永华.新型PD控制及其应用[M].机械工业出版社出版,2002
[9]Utkin VI.Variable structure systems with sliding modes[J].IEEE Trans.on AC,1977,22(2):212-222
[10]LIN F J,CHIU S L,SHYU K K.Novel sliding mode controller for synchronous motor drive[J].IEEE Transactions on Aerospace and Electronic Systems.1998,34(2):532-542
[11]孙业树,周新云等.永磁同步电机交流伺服系统模型参考模糊控制[J].微电机.2003,36(1):19-21
[12]El-Sousy,F.F.M.High-performance neural-network model-following speed controller for vector-controlled PMSM drive system[C].ICIT.2004,(1):418-424
[13]许振伟,蒋静坪,骆再飞.基于神经网络的永磁同步电动机模糊自适应控制[J].电力系统及其自动化学报.2003,15(3):49-52
[14]蔡智慧,唐忠,马士英.基于RBF神经网络的永磁同步电机在线辨识与模型参考自适应控制[J].华东电力.2008,36(2):108-111
[15]李志民,张遇杰.同步电动机调速系统[M].机械工业出版社,1996
[16]高景德,王祥珩,李发海.交流电机及其系统的分析[M].清华大学出版社,1993
[17]胡崇岳.现代交流调速技术[M].机械工业出版社,1998
[18]S.Morimoto,Y.Takeda.Current Phase Control Methods for Permanent Magnet Synchronous Motors[J],IEEE Trans.on PE,1990,5(2):478-486
[19]Pragasen Pillay,Ramu Krishnan.Modeling,Simulation,and Analysis of Permanent-Magnet Motor Drives,Part Ⅰ:The Permanent-Magnet Synchronous Motor Drive[J].IEEE Trans.on Ind.1989,25(2):445-453
[20]Pillay P.,Krishnan R..Modeling of Permanent Magnet Motor Drives[J].IEEE Trans.on Ind.1988,35(4):537-541
[21]詹阳.基于TMS320LF2407A的交流伺服电机控制系统[D].清华大学硕士学位论文.2004
[22]马志源.电力拖动控制系统[M].科学出版社,2004
[23]李永东.交流电机数字控制系统[M].机械工业出版社,2002
[24]Shigeo Morimoto.Wide-Speed Operation of Interior Permanent Magnet Synchronous Motors with High-Performance Current Regulator[J].IEEE transaction on industry applications.2000,30(4)
[25]苏彦民,李宏.交流调速系统的控制策略[M].机械工业出版社,1998
[26]龚云飞,富历新.基于Matlab的永磁同步电机矢量控制系统仿真研究[J].微电机.2007,40(2):33-36
[27]S.R.Bowes,Y.S.Lai.The relationship between space-vector modulation and regular-sampled PWM[J].IEEE Transactions on Industrial Electronics,1997,44(5):670-679.
[28]肖春燕.电压空间矢量脉宽调制技术的研究及其实现[D].南昌大学硕士学位论文.2005
[29]H.W.Van Der Broeck,Hans-Christoph Skudelny.Analysis and realization of a pulsewidth modulator based on voltage space vectors[J].IEEE Transactions on industry applications,1998,24(1):142-150.
[30]杨贵杰.空间矢量脉宽调制方法的研究[J].中国电机工程学报.2001,21(5):79-83
[31]陈伯时等.交流调速系统[M].机械工业出版社,1998
[32]吴守箴等.电气传动的脉宽调制控制技术[M].机械工业出版社,1999
[33]李颖,朱伯立,张威.Simulink动态系统建模与仿真基础[M].西安电子科技大学出版社,2004
[34]张春喜,廖文建,王佳子.异步电机SVPWM矢量控制仿真分析[J].电机与控制学报.2008,12(2):160-163
[35]康现伟,于克训,刘志华.空间矢量脉宽调制仿真及其谐波分析[J].电气传动自动化.2005,27(1):11-13
[36]陈先锋,舒志兵,赵英凯.基于矢量控制的PMSM位置伺服系统电流滞环控制仿真分析[J].电气传动.2006,36(6):19-22
[37]增光奇等.模糊控制理论与工程应用[M].华中科技大学出版社,2006
[38]刘曙光等.模糊控制技术[M].中国纺织出版社,2001
[39]易继锴,侯媛彬.智能控制技术[M].北京工业大学出版社,1999
[40]赵金,万淑芸.隶属函数分布对模糊控制交流调速性能的影响[J].电气传动.2004(3):9-12
[41]史婷娜,徐绍辉等.超声波电机模糊-PI双模自适应速度控制[J].电工技术学 报.2003,18(3):1-4
[42]范少泉.模糊控制在交流调整控制系统中的应用研究[D].东北电力大学硕士学位论文.2006
[43]刘金琨.先进PID控制MATLAB仿真(第二版)[M].电子工业出版社,2004
[44]朱卫华,杨向宇.永磁同步电动机调速系统新型模糊控制方法[J].微特电机.2005(6):29-31
[45]Guney I,Oguz Y,Serteller F.,Dynamic behaviour model of permanent magnet synchronous motor fed by PWM Inverter and fuzzy logic controller for stator phase current,flux and torque control of PMSM[C],IEMDC 2001:479-485
[46]Kuang-Yao Cheng,Ying-Yu Tzou.Fuzzy optimization techniques applied to the design of a digital PMSM servo drive[J],IEEE Transactions on Power Electronics,2004,19(4):1085-1099
[47]易继锴,侯媛彬.智能控制技术[M].北京工业大学出版社,1999:95-123
[48]邵伍周,唐忠等.基于RBF神经网络在线辨识的永磁同步电机单神经元PID 矢量控制[J].电力科学与技术学报.2007,22(2):48-52
[49]曾军.神经网络PID控制器的研究及仿真[D].湖南大学硕士学位论文.2004
[50]葛哲学,孙志强.神经网络理论与MATLAB R2007实现[M].电子工业出版社,2007
[51]冯宇,邱相艳,郝金光.采用神经网络控制的永磁同步电动机调速系统[J].微特电机.2006,(6):32-34
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