摘要
永磁同步电动机(Permanent Magnet Synchronous Motors, PMSM)以高功率密度、高效率、高可靠性及结构简单、轻量化等优点著称,目前广泛应用于国民经济、工业生产和国防航天等领域。然而,永磁同步电机是一个多变量、强耦合的非线性系统,存在着诸如电流耦合、系统饱和、参数摄动和外部扰动等诸多不利因素,直接影响着控制系统性能的提高。为了实际工程应用的需求,迫切需要在永磁同步电机控制方法上有所突破,以保证高性能永磁同步电机系统的发展。
滑模变结构控制(Sliding Mode Control, SMC)是一种非线性控制方法,对内部参数摄动和外部干扰具有较强的鲁棒性和较高的控制精度,且实现简单,故其在电机控制领域受到广泛关注。本文主要针对永磁同步电机系统发展的需求,系统分析了永磁同步电机相关控制技术发展状况,同时归纳和总结了滑模变结构控制技术的发展现状,对近年来滑模控制技术在永磁同步电机系统中的应用进展做了较为深入的分析。针对永磁同步电机系统中存在的问题,将滑模控制技术应用于永磁同步电机控制系统,实现永磁同步电机电流、速度和位置高精度控制及无位置传感器永磁同步电机控制,并在此基础上设计有位置传感器与无位置传感器两种模式的永磁同步电机调速控制系统。本文的研究工作如下：
(1)针对常规永磁同步电机矢量控制系统中存在电流耦合及不确定干扰等问题,提出了一种基于快速终端滑模自适应电流鲁棒控制算法。由于常规的永磁同步电机矢量控制系统无法完全实现电流解耦控制,系统的存在参数摄动、建模不准确等诸多不确定性影响着系统性能提高,为此将快速终端滑模控制与自适应控制技术结合,设计自适应快速终端滑模电流控制器,利用李雅普诺夫函数证明系统收敛性,并通过仿真试验验证了所提算法的可行性和有效性。该算法不仅能够降低电流耦合及反电动势对系统的影响,而且也提升了电流控制器对系统不确定的抗干扰能力。
(2)针对永磁同步电机驱动系统存在的饱和问题进行了分析,对传统Anti-reset Windup方法进行了改进,提高了存在饱和现象的永磁同步电机控制系统性能。为了进
一步提高系统控制性能,重点针对永磁同步电机系统中存在参数摄动和外部扰动及传统一阶滑模系统存在的“抖振”问题,提出一种二阶积分滑模速度控制方法。该速度控制算法采用了积分滑模面,设计一种二阶滑模控制律,从而避免了常规滑模控制系统存在的“抖振”问题,同时针对电机驱动系统中在饱和限制下易产生Windup现象,进行抗饱和设计。通过仿真试验结果表明所提出的二阶滑模速度控制算法较常规抗饱和算法性能更优,具有更强的适应性。
(3)针对永磁同步电机位置伺服系统中存在摩擦和传动间隙等问题,提出一种基于快速终端滑模的永磁同步电机位置伺服控制方法。将快速终端滑模控制方法应用于永磁同步电机位置跟踪控制中,同时为了进一步降低快速终端滑模控制对于控制对象数学模型的依赖,将其与径向基神经网络(RBF)相结合,设计了基于径向基神经网络的快速终端滑模永磁同步电机位置跟踪控制器,有效提升了永磁同步电机的控制性能。同时,针对永磁同步电机系统中存在外部扰动问题,提出了一种基于扰动观测器的永磁同步电机快速终端滑模控制方法,实现了位置跟踪系统控制精度的提高。仿真试验验证明了所提算法具有实际工程应用价值。
(4)针对永磁同步电机无位置传感器控制问题,分析了永磁同步电机的能观性,在此基础上提出一种基于二阶滑模控制方法的滑模观测器,并将其用于电机位置和速度观测。通过与传统滑模观测器的仿真分析比较,验证了所提出滑模观测器的性能,其无需额外增加滤波器,即可获得平滑的电机速度和位置估算值,提高了速度和位置估算精度。
(5)针对注塑机和汽车电空调等对永磁同步电机的实际需求,设计有传感器和无位置传感器两种控制模式的永磁同步电机驱动控制系统,并通过试验验证了所设计的控制系统能够满足实际工程需要。
Recently, the permanent-magnet synchronous motors (PMSM) have been applied widely in the capital economy, industrial production, defense and space industries and so on because they have many advantages of high power density, high efficiency, high reliability and fast dynamics etc. However, PMSM is a multivariable and strongly coupling nonlinear system, whose control performance is still influenced by the current coupling, windup, parameter variations and perturbations in practical applications. In order to meet the demands of PMSM application in the future, great progress in the PMSM control methods has to be made to ensure the development of high-performance PMSM.
Sliding mode control (SMC) is one of the nonlinear control methods, which is insensitive to parameter variations and external disturbance. Therefore, SMC is paid widely attention. In the dissertation, according to the real demands of PMSM, the PMSM development and the sliding mode control technology are summarized. Especially, the application of SMC in the PMSM system is analyzed. For the problems of PMSM system mentioned above, the SMC method is applied in the PMSM control system, so as to control the current, speed and position, and further realize the sensorless control of PMSM. Based on the studies, a PMSM control system which has two modes with and without the position sensor is designed and developed. The research results are showed as bellow:
(1) An adaptive current robust control algorithm based on the fast terminal sliding mode is proposed to solve the current coupling and uncertain disturbance in the conventional PMSM vector control system. The conventional PMSM vector control system can not realize the decoupling control completely. In addition, the inaccurate model would result in the uncertainty. Therefore, the fast terminal sliding mode control and adaptive control method are hybridized, and the adaptive fast terminal sliding mode current controller is designed. The convergence of the algorithm is proved by Lyapunov function, and the simulation experiments validate the reliability and applicability. The algorithm not only reduces the influence of the current coupling and back electromotive force on the system, but also strengthens the anti-interference capability of the current controller on the system uncertainty.
(2) The windup phenomenon in the PMSM drive system is analyzed, and the traditional anti-reset windup method is modified. A second order integral sliding mode control algorithm is proposed to solve the parameter variation, external disturbance of PMSM and chattering of one order sliding mode system. The algorithm utilizes the integral manifold. The second order sliding mode control law is designed by the Lyapunov function approach and effectively eliminates the system chattering phenomenon. Meanwhile, an anti-windup control method is used to address the windup phenomenon of the PMSM control system. The computer simulation results are presented to verify the feasibility of the method.
(3) For the friction and drive clearance of PMSM servo system, a servo control method is proposed based on the fast terminal sliding mode (FTSM). The FTSM is used for tracking the position of PMSM. In order to further alleviate the dependence of FTSM on the mathematical model of the object, we design a PMSM position tracking controller which combines the FTSM and RBF neural network. The novel method improves the control performance of PMSM. Meanwhile, for the external disturbance, a disturbance observer based FTSM method is presented to increase the control precision of position tracking system.
(4) For the permanent magnet synchronous motor sensorless vector control, we analyze the observability of PMSM and present a second order sliding mode observer which is to estimate the rotor position and speed. The proposed sliding mode observer can successfully eliminate the system chattering problem, without the low pass filter in the conventional sliding mode observer and improve the precision of the estimated motor position and speed while compared to the conventional sliding mode observer.
(5) According to the demand of the injecting molding machine and car air conditioning on PMSM, PMSM drive control system is developed which has two modes with and without sensor. The experimental results show that the control system is feasible and effective in the practical engineering project.
引文
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