本文選題：永磁直流電機(jī) + 擴(kuò)張狀態(tài)觀測器��； 參考：《山東大學(xué)》2017年碩士論文

【摘要】：直流電動機(jī)具有良好的調(diào)速特性、較高的起制動轉(zhuǎn)矩和過載能力等一系列優(yōu)點(diǎn),因此一直在傳動領(lǐng)域中占據(jù)著重要地位。在調(diào)速系統(tǒng)運(yùn)行過程中,電機(jī)的電樞電阻、電樞電感、負(fù)載都可能隨著工況不同而發(fā)生改變,導(dǎo)致轉(zhuǎn)速發(fā)生變化。傳統(tǒng)的PI控制對擾動有一定的抑制作用,但對幅值大、變化快的干擾無能為力。本課題研究由永磁直流電機(jī)組成的直流調(diào)速系統(tǒng)的自抗擾控制(Active Disturbance Rejected Control,ADRC)方法,對提高系統(tǒng)抗干擾能力及動態(tài)響應(yīng)的快速性都具有重要意義。本文在閱讀了大量文獻(xiàn)的基礎(chǔ)上,以用于逆變焊機(jī)氣保焊中的永磁直流電機(jī)調(diào)速系統(tǒng)為例,對基于擴(kuò)張狀態(tài)觀測器(Extended State Observer,ESO)的ADRC控制方案進(jìn)行了詳細(xì)地研究。主要研究內(nèi)容如下:(1)首先介紹了永磁直流電機(jī)的基本運(yùn)行原理、結(jié)構(gòu)特征、數(shù)學(xué)模型及其控制方案。(2)詳細(xì)討論了 ESO的基本工作原理及其特點(diǎn)。對線性擴(kuò)張狀態(tài)觀測器(Linear Extended State Observer,LESO)的設(shè)計方案尤其是參數(shù)的確定方法進(jìn)行了深入地探討。然后,針對直流傳動系統(tǒng)設(shè)計了一個二階LESO,從而獲得了速度環(huán)總擾動的估計信息。(3)以永磁直流伺服電機(jī)組成的調(diào)速系統(tǒng)為例,根據(jù)LESO所觀測到擾動的信息,設(shè)計了基于ADRC的直流調(diào)速系統(tǒng)。考慮到ADRC可能存在的問題,文中還介紹了使用跟蹤微分器(Tracking Differentiator,TD)的解決方案。樣機(jī)的仿真結(jié)果驗證了該方案的有效性。(4)鑒于直流電機(jī)的電樞電流包含換向信息,而換向信息可以被作為轉(zhuǎn)子的轉(zhuǎn)速信息加以利用,從而取代用于檢測轉(zhuǎn)子位置的光電編碼器或旋轉(zhuǎn)變壓器,實(shí)現(xiàn)無機(jī)械位置傳感器的控制方案。本文提出了一種基于電樞電流換向信息的新穎的無速度傳感器測速方案�？紤]到轉(zhuǎn)子轉(zhuǎn)速與電樞電流對于該方案實(shí)現(xiàn)過程中所涉及到的諸多問題,文中提出了相應(yīng)的解決方案,并制作了樣機(jī),驗證了方案的有效性,為最終實(shí)現(xiàn)無速度傳感器的調(diào)速系統(tǒng)奠定基礎(chǔ)。
[Abstract]:DC motor has a series of advantages, such as good speed regulation characteristics, high braking torque and overload ability, so it has been playing an important role in the field of transmission. In the process of speed regulation system, the armature resistance, armature inductance and load of the motor may change with the different working conditions, which leads to the change of the speed. The PI control has a certain inhibitory effect on the disturbance, but it is incapable of disturbing the disturbance with a large amplitude and fast change. The study of the Active Disturbance Rejected Control (ADRC) method, which is composed of permanent magnet DC motor, is of great importance to improving the system resistance to interference and the fast dynamic response of the system. On the basis of reading a large number of documents, this paper studies the ADRC control scheme based on Extended State Observer (ESO) for an example of the permanent magnet DC motor speed regulation system in the air guarantee welding of inverter welding machine. The main research contents are as follows: (1) first, the basic operation of permanent magnet DC motor is introduced. Principles, structural features, mathematical models and their control schemes. (2) the basic principle and characteristics of ESO are discussed in detail. The design of the Linear Extended State Observer (LESO), especially the method of determining the parameters, is deeply discussed. Then, a two order LES is designed for the DC transmission system. O, thus obtaining the estimation information of the total disturbance of the speed loop. (3) taking the speed control system composed of permanent magnet DC servo motor as an example, based on the information observed by LESO, the DC speed regulation system based on ADRC is designed. Considering the possible problems of ADRC, the solution of the Tracking Differentiator (TD) is also introduced in this paper. The simulation results of the prototype verify the effectiveness of the scheme. (4) since the armature current of the DC motor contains the commutation information, the commutation information can be used as the rotational speed information of the rotor, thus replacing the photoelectric encoder or rotating voltage transformer used to detect the rotor position, so as to realize the control scheme without the mechanical position sensor. A novel speed sensorless speed sensor based on the commutation information of armature current is proposed in this paper. Considering the problems involved in the implementation of the scheme, the corresponding solutions are put forward in this paper, and a prototype is made to verify the effectiveness of the scheme for the final realization of the speed transmission. It lays the foundation for the speed control system of the sensilla.
【學(xué)位授予單位】：山東大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TM33

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