永磁同步电机控制策略及算法融合研究
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摘要
随着电力电子技术、微型计算机技术、稀土永磁材料学科、自动控制理论、智能控制理论等理论和技术的快速发展，高效能、高功率密度的永磁同步电动机正广泛应用于工业、航空航天、国防军事等领域的运动控制系统中，以永磁同步电动机为执行机构的全数字永磁同步伺服系统正在逐步取代直流电动机、步进电动机运动系统而成为伺服驱动系统的发展方向。然而，由于永磁同步伺服系统受电机多变量耦合性和参数变化、外部负载扰动、恶劣环境等因素的影响，要获得高性能、宽调速范围的永磁同步伺服系统，必须对永磁同步电动机的模型进行深入的分析，研究先进的控制策略与控制手段，使系统具有较强的环境适应性和抗扰动能力。本论文的主要工作就是围绕高性能的全数字永磁同步伺服系统控制策略的研究而展开的，论文的主要内容如下：
对正弦波永磁同步电动机的电磁过程、矩角特性进行了分析，建立了三种坐标系下的定子磁链方程、电压方程和电磁转矩方程，为控制策略的分析提供了理论铺垫。目前，正弦波永磁同步电动机伺服控制系统主流的控制策略有按转子磁链定向的矢量控制策略和按定子磁链定向直接转矩控制策略。
系统地分析了永磁同步电动机按转子磁链定向的矢量控制策略的基本原理和实现方法，搭建了id=0的矢量控制策略的仿真模型，并对电流环和转速环的PI调节器参数进行了整定，特别解析了电流环带宽和调节器参数的关系。分析了初始零位偏差对转速环性能影响，利用劳斯判据对存在初始零位偏差的转速环的稳定性进行了判定，仿真和实验结果表明，随着初始零位偏差的增大，转速环的响应性能和抗扰性能将会变差。在总结常用的限幅策略的基础上提出了一种新的限幅方法，理论分析了证明了该方法的有效性和优良性。
对按定子磁链定向的直接转矩控制策略进行了原理性的分析，在常规的直接转矩控制方案的基础上对定子磁链幅值的给定机制进行了改良，仿真表明，这种新的定子磁链幅值给定机制使得电磁转矩的阶跃响应性能达到最优。
分析比较了按转子磁链定向的矢量控制和按定子磁链定向的直接转矩控制两种方案的控制结构上的异同点和电磁转矩环的阶跃响应性能，融合二者的优点，研究了按定子磁链定向的电压空间矢量脉宽调制技术的控制算法，仿真和实验验证了该方法的有效性和阶跃响应的优越性。
最后搭建了全数字永磁同步电动机伺服控制系统的硬件平台并在硬件平台上实现了矢量控制算法、直接转矩控制算法及融合算法。实验结果也在一定程度上验证了三种控制算法的优缺点。
设计了21位双通道旋转变压器解码作为全数字永磁同步电动机的伺服控制系统的反馈通道。实验中搭建测试平台，用自准直仪和多面棱镜对该测角系统精度进行测量。结果表明，测角误差均方根值达到20角秒，经系统误差修正后整个系统测角误差均方根值达到9.46角秒。最后本文对测角系统的系统误差产生原因进行了分析。
Along with the rapid development of power electronics technology,micro-computer technology, rare earth permanent magnet materials science,automatic control theory, intelligent control theory and technology, permanentmagnet synchronous motors (PMSMs) with the advantages such as increasedefficiency, superior torque-to-volume and power-to-volume rations, and quietoperation has been widely used in the motion control system of the industrial,aerospace, defense and military fields. PMSM digital servo system gradually takesthe place of DC motors, stepper motor motion system and becomes the developmentdirection of the servo drive system. However, permanent magnet synchronous motorservo system was influenced by multi variable coupling and parameter variations,external load disturbance, harsh environment and other factors. So permanentmagnet synchronous motor model, the control strategies and the advanced controlmethods must be studied and thoroughly analyzed to achieve high performance,wide speed range, strong environmental adaptability and anti disturbance ability.This paper is aiming at the control strategies of full digital permanent magnetsynchronous servo system, and the main content of the paper is as follows.
The electromagnetic process of sinusoidal permanent magnet synchronousmotor, torque angle characteristics are analyzed, and established three coordinates ofthe stator flux linkage equations, the voltage equation and electromagnetic torqueequation, provides the theoretical foil for the analysis of control strategies. At present,the mainstream of control strategies of the sinusoidal PMSM servo control systemsare the rotor flux oriented vector control strategy and the direct torque controlstrategy with stator flux control.
With the systematically analysis of the basic principle and implementationmethod of the rotor flux oriented vector control strategy for sinusoidal PMSM, itssimulation model at id=0was set. And the PI controller parameters of the currentloop and speed loop especially the relations of band width and current regulatorparameters were set. To analyze the affect of the performance of speed loop by theinitial zero deviation, the Routh criterion was used to determine the stability of speedloop and simulation and the experimental results showed that the responseperformance and immunity performance of the speed loop would be worse with the increase of the initial zero deviation. Based on summarizing the common limiterstrategy, a new a new clipping method was proposed and theoretical analysis provedthat the method is effective and quality.
The principle of direct torque control strategy with stator flux control wasanalyzed and the given mechanism of the amplitude of stator flux linkage on theconventional direct torque control scheme was improved. Simulation results showthat, the new mechanism of the amplitude of stator flux linkage makes the stepresponse performance of electromagnetic torque to achieve optimal.
The similarities and differences of the control structure and the step responseperformance of the electromagnetic torque loop between the rotor flux orientedvector control and the stator flux oriented direct torque control was compared andanalyzed. Then the stator flux oriented control algorithm with the voltage spacevector pulse width modulation technology which has fused the advantages of thevector control and the direct torque control was studied. Simulation and experimentsverify the effectiveness of the method and optimal performance of the step response.
Finally, a full digital PMSM servo control system was built and validated thevector control algorithm, direct torque control algorithm and the fusion algorithm.The experimental results verify the advantages and disadvantages of three kinds ofcontrol algorithms in a certain extent.
A scheme of an angle measurement circuit for the two-speed resolver wasdesigned, which included the decoding and measurement of the precision. A schemeof measurement test is carried out with collimator and prism in the laboratory. Theresults achieve the designed functions of the scheme completely and the error by rmsof the single angle measurement circuit is20arc seconds, which reaches9.46arcseconds after correcting the systemic error with software. Lastly, the causations ofthe systemic error of the angle measurement circuit are indicated in this paper.
对正弦波永磁同步电动机的电磁过程、矩角特性进行了分析，建立了三种坐标系下的定子磁链方程、电压方程和电磁转矩方程，为控制策略的分析提供了理论铺垫。目前，正弦波永磁同步电动机伺服控制系统主流的控制策略有按转子磁链定向的矢量控制策略和按定子磁链定向直接转矩控制策略。
系统地分析了永磁同步电动机按转子磁链定向的矢量控制策略的基本原理和实现方法，搭建了id=0的矢量控制策略的仿真模型，并对电流环和转速环的PI调节器参数进行了整定，特别解析了电流环带宽和调节器参数的关系。分析了初始零位偏差对转速环性能影响，利用劳斯判据对存在初始零位偏差的转速环的稳定性进行了判定，仿真和实验结果表明，随着初始零位偏差的增大，转速环的响应性能和抗扰性能将会变差。在总结常用的限幅策略的基础上提出了一种新的限幅方法，理论分析了证明了该方法的有效性和优良性。
对按定子磁链定向的直接转矩控制策略进行了原理性的分析，在常规的直接转矩控制方案的基础上对定子磁链幅值的给定机制进行了改良，仿真表明，这种新的定子磁链幅值给定机制使得电磁转矩的阶跃响应性能达到最优。
分析比较了按转子磁链定向的矢量控制和按定子磁链定向的直接转矩控制两种方案的控制结构上的异同点和电磁转矩环的阶跃响应性能，融合二者的优点，研究了按定子磁链定向的电压空间矢量脉宽调制技术的控制算法，仿真和实验验证了该方法的有效性和阶跃响应的优越性。
最后搭建了全数字永磁同步电动机伺服控制系统的硬件平台并在硬件平台上实现了矢量控制算法、直接转矩控制算法及融合算法。实验结果也在一定程度上验证了三种控制算法的优缺点。
设计了21位双通道旋转变压器解码作为全数字永磁同步电动机的伺服控制系统的反馈通道。实验中搭建测试平台，用自准直仪和多面棱镜对该测角系统精度进行测量。结果表明，测角误差均方根值达到20角秒，经系统误差修正后整个系统测角误差均方根值达到9.46角秒。最后本文对测角系统的系统误差产生原因进行了分析。
Along with the rapid development of power electronics technology,micro-computer technology, rare earth permanent magnet materials science,automatic control theory, intelligent control theory and technology, permanentmagnet synchronous motors (PMSMs) with the advantages such as increasedefficiency, superior torque-to-volume and power-to-volume rations, and quietoperation has been widely used in the motion control system of the industrial,aerospace, defense and military fields. PMSM digital servo system gradually takesthe place of DC motors, stepper motor motion system and becomes the developmentdirection of the servo drive system. However, permanent magnet synchronous motorservo system was influenced by multi variable coupling and parameter variations,external load disturbance, harsh environment and other factors. So permanentmagnet synchronous motor model, the control strategies and the advanced controlmethods must be studied and thoroughly analyzed to achieve high performance,wide speed range, strong environmental adaptability and anti disturbance ability.This paper is aiming at the control strategies of full digital permanent magnetsynchronous servo system, and the main content of the paper is as follows.
The electromagnetic process of sinusoidal permanent magnet synchronousmotor, torque angle characteristics are analyzed, and established three coordinates ofthe stator flux linkage equations, the voltage equation and electromagnetic torqueequation, provides the theoretical foil for the analysis of control strategies. At present,the mainstream of control strategies of the sinusoidal PMSM servo control systemsare the rotor flux oriented vector control strategy and the direct torque controlstrategy with stator flux control.
With the systematically analysis of the basic principle and implementationmethod of the rotor flux oriented vector control strategy for sinusoidal PMSM, itssimulation model at id=0was set. And the PI controller parameters of the currentloop and speed loop especially the relations of band width and current regulatorparameters were set. To analyze the affect of the performance of speed loop by theinitial zero deviation, the Routh criterion was used to determine the stability of speedloop and simulation and the experimental results showed that the responseperformance and immunity performance of the speed loop would be worse with the increase of the initial zero deviation. Based on summarizing the common limiterstrategy, a new a new clipping method was proposed and theoretical analysis provedthat the method is effective and quality.
The principle of direct torque control strategy with stator flux control wasanalyzed and the given mechanism of the amplitude of stator flux linkage on theconventional direct torque control scheme was improved. Simulation results showthat, the new mechanism of the amplitude of stator flux linkage makes the stepresponse performance of electromagnetic torque to achieve optimal.
The similarities and differences of the control structure and the step responseperformance of the electromagnetic torque loop between the rotor flux orientedvector control and the stator flux oriented direct torque control was compared andanalyzed. Then the stator flux oriented control algorithm with the voltage spacevector pulse width modulation technology which has fused the advantages of thevector control and the direct torque control was studied. Simulation and experimentsverify the effectiveness of the method and optimal performance of the step response.
Finally, a full digital PMSM servo control system was built and validated thevector control algorithm, direct torque control algorithm and the fusion algorithm.The experimental results verify the advantages and disadvantages of three kinds ofcontrol algorithms in a certain extent.
A scheme of an angle measurement circuit for the two-speed resolver wasdesigned, which included the decoding and measurement of the precision. A schemeof measurement test is carried out with collimator and prism in the laboratory. Theresults achieve the designed functions of the scheme completely and the error by rmsof the single angle measurement circuit is20arc seconds, which reaches9.46arcseconds after correcting the systemic error with software. Lastly, the causations ofthe systemic error of the angle measurement circuit are indicated in this paper.
引文
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