摘要
永磁同步电动机(PMSM)以其效率高、功率密度大和转矩/惯量比大等优点,在中小容量的伺服系统中得到广泛的应用。本文对无速度传感器PMSM伺服系统中,转子速度和位置估计、速度跟踪控制、位置跟踪控制和摩擦补偿等关键问题进行了深入研究,提出了一种新颖的无速度传感器PMSM位置伺服系统控制方案。
深入研究分析了PMSM矢量控制理论,提出了一种基于自抗扰控制策略的PMSM转子速度和位置估计方法。将转子速度和d轴电流对q轴电流环的耦合作用,视为q轴电流环的扰动量,通过自抗扰控制器将这个扰动量观测出来,再从观测出的扰动量中提取出转子速度的信息,进而估计出转子速度和位置。仿真和实验表明,在从0r/min到2000r/min的调速范围内,均能准确的估计出转速,并且对负载扰动具有很强的鲁棒性。
为了抑制负载、摩擦力矩和转动惯量的变化对PMSM伺服系统的影响,本文将以上参数的变化视为伺服系统速度环的扰动量,推导出速度环自抗扰控制的数学模型,提出了PMSM伺服系统速度跟踪控制的自抗扰控制策略。仿真表明,在从0r/min到2000r/min的调速范围内,均能很好的抑制负载和转动惯量的影响,并且对摩擦力矩给与有效补偿,克服了伺服系统速度跟踪中的“死区”现象和位置跟踪中的“平顶”现象。
针对PMSM位置伺服系统对定位的快速性、准确性和无超调的要求,以及系统鲁棒性的要求,提出了PMSM伺服系统位置跟踪自抗扰控制器。通过跟踪-微分器为位置给定信号提供一个过渡过程,克服了响应速度和超调之间的矛盾,使得系统响应快且没有超调;通过扩展状态观测器将位置环的扰动量观测出来并加以前馈补偿,提高了系统的鲁棒性。仿真表明,当转子位置给定信号分别为100rad和0.1sin( 2πt)rad时,系统的稳态误差分别为0.033rad和0.00038rad,控制精度较高,并且对负载扰动、转动惯量和定子电阻的变化具有很强的鲁棒性。
在上述工作的基础上,研发了一套基于TMS320LF2407A DSP的高性能PMSM交流伺服系统,并开发了基于CAN总线的上位机监控软件,实现了上位机对伺服系统运行状态的实时监控。
Permanent Magnet Synchronous Motors (PMSM) have numerous inherent advantages over other machines that are conventionally used for AC servo drives. High efficiency, high power density (kw/kg) and high torque to inertia ratio are some of the PMSM characteristics responsible for its wide utilization in different domains. In this dissertation, speed and position estimation, speed and position tracking, friction compensation and other key problems of speed sensorless PMSM servo drive are investigated in detail. And based on those, a novel approach for speed sensorless PMSM servo drive system is presented.
Based on Active Disturbance Rejection Controller (ADRC) techniques, a novel rotor speed and position estimation strategy to sensorless PMSM servo drive is presented in this dissertation. In the strategy, the rotor speed and d-axis current in q-axis current loop are regarded as cross-coupling item, which is observed by ADRC and then the rotor speed is estimated from the cross-coupling item. Simulation and experimental results show that the rotor speed and position can be accurately estimated from 0r/min to 2000r/min, and the PMSM servo system has strongly robust to load disturbance.
In order to restrain the disturbances in PMSM servo drive caused by the changes of load, friction and rotor inertia, a speed control method based on ADRC techniques is presented in this dissertation and the speed ADRC model is also proposed. Based on ADRC, these parameter changes are regarded as disturbances of speed loop in PMSM servo system, which are estimated and then compensated by speed ADRC. Simulation results show that the servo system robust to those disturbances from 0r/min to 2000r/min, and the friction torque is compensated by the control method.
A position control approach based on ADRC techniques is also presented in this dissertation. Aim at the speediness, accuracy and overshootless of position control, as well as the restrain of disturbance, a transitional process is arranged for the given position by the Tracking Differentiator (TD) of ADRC, and the disturbance effects upon position control is also observed and then compensated by the Extended State Observer (ESO) of ADRC. Simulation results show that the servo system robust to stator resistance, rotor inertia changes and load disturbance. When given position is 100rad and 0.1sin( 2πt)rad, the steady state error is 0.033rad and 0.00038rad, respectively.
Grounded on the work above, a real system includes TI’s DSP TMS320LF2407A as central control unit is developed, and the monitor control system based on Controller Area Network (CAN) bus is designed.
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