【摘要】：永磁同步電機(jī)具有功率密度高、可靠性高、結(jié)構(gòu)簡(jiǎn)單和體積小等眾多優(yōu)點(diǎn),因此在數(shù)控機(jī)床、工業(yè)生產(chǎn)以及船舶工業(yè)等眾多領(lǐng)域獲得了廣泛應(yīng)用,在這些領(lǐng)域中,電機(jī)調(diào)速發(fā)揮重要作用,但是永磁同步電機(jī)調(diào)速系統(tǒng)是一個(gè)存在物理限制和強(qiáng)耦合的復(fù)雜非線性的系統(tǒng),因此要獲得高精度、高性能的調(diào)速效果需要在考慮電流耦合、系統(tǒng)飽和及系統(tǒng)非線性的基礎(chǔ)上對(duì)控制算法進(jìn)行深入研究�；？刂颇軌蛟谝欢ǔ潭壬峡朔到y(tǒng)的非線性并且能夠與抗飽和方法有機(jī)結(jié)合,因此適合用于永磁同步電機(jī)的調(diào)速控制。首先,對(duì)永磁同步電機(jī)調(diào)速系統(tǒng)中飽和限制惡化系統(tǒng)調(diào)速性能(Windup現(xiàn)象)的機(jī)理進(jìn)化分析,并在傳統(tǒng)的抗飽和(Anti-reset Windup)方法的基礎(chǔ)上進(jìn)行改進(jìn),新方法通過(guò)在控制器的積分環(huán)節(jié)引入指數(shù)項(xiàng)增益來(lái)削弱系統(tǒng)到達(dá)穩(wěn)態(tài)前的積分作用,從而降低飽和限制對(duì)系統(tǒng)調(diào)速性能的影響,仿真證明該方法能夠有效削弱飽和限制對(duì)系統(tǒng)調(diào)速性能的不利影響。其次,針對(duì)滑�？刂浦卸墩駥�(duì)調(diào)速系統(tǒng)控制性能的影響,本文首先分析了以指數(shù)趨近律為代表的傳統(tǒng)滑�？刂期吔稍谙到y(tǒng)趨近速度和抖振水平之間的矛盾,在此基礎(chǔ)上設(shè)計(jì)基于收斂型指數(shù)趨近律的滑模抗飽和控制。其次將所設(shè)計(jì)的趨近律方案與傳統(tǒng)的指數(shù)趨近律的切換層寬度對(duì)比分析可以看出該方法能夠有效抑制系統(tǒng)抖振,最后同時(shí)該方法還保留了傳統(tǒng)指數(shù)趨近律響應(yīng)迅速的優(yōu)點(diǎn)。通過(guò)兩類仿真分別驗(yàn)證本文設(shè)計(jì)的滑模控制和滑�？癸柡涂刂圃陔姍C(jī)調(diào)速系統(tǒng)中的良好性能。再者,針對(duì)滑模控制中切換控制的存在必然導(dǎo)致系統(tǒng)抖振的問(wèn)題,本文設(shè)計(jì)了神經(jīng)網(wǎng)絡(luò)抗飽和控制,該方法使用神經(jīng)網(wǎng)絡(luò)控制代替切換控制從而避免抖振的產(chǎn)生,同時(shí)引入并行控制避免神經(jīng)網(wǎng)絡(luò)陷入局部收斂,仿真結(jié)果表明該方案在永磁同步電機(jī)調(diào)速系統(tǒng)中既能保留滑�？刂祈憫�(yīng)迅速和調(diào)速精度高的優(yōu)點(diǎn)又能避免系統(tǒng)抖振的產(chǎn)生。最后,通過(guò)實(shí)驗(yàn)驗(yàn)證本文設(shè)計(jì)的滑模控制方法的優(yōu)越性,本文首先介紹了永磁同步電機(jī)調(diào)速系統(tǒng)的硬件平臺(tái)和軟件流程,接著給出增量式滑�？癸柡涂刂频臄�(shù)字實(shí)現(xiàn),最后通過(guò)啟動(dòng)和調(diào)速實(shí)驗(yàn)驗(yàn)證了本文算法的動(dòng)態(tài)和穩(wěn)態(tài)性能,并給出算法的時(shí)間復(fù)雜度對(duì)比分析。
[Abstract]:Permanent magnet synchronous motor (PMSM) has many advantages such as high power density, high reliability, simple structure and small size, so it has been widely used in many fields, such as numerical control machine tools, industrial production and ship industry. Motor speed regulation plays an important role, but permanent magnet synchronous motor speed regulation system is a complex nonlinear system with physical limitation and strong coupling. Therefore, in order to obtain high precision and high performance speed regulation effect, current coupling should be considered. On the basis of system saturation and system nonlinearity, the control algorithm is deeply studied. Sliding mode control can overcome the nonlinearity of the system to a certain extent and can be combined with the anti-saturation method, so it is suitable for the speed control of permanent magnet synchronous motor (PMSM). Firstly, the mechanism of saturation limited deterioration (Windup phenomenon) in permanent magnet synchronous motor (PMSM) speed control system is analyzed and improved on the basis of traditional anti saturation (Anti-reset Windup) method. The new method weakens the integral function before the system reaches the steady state by introducing exponential gain into the integral link of the controller, thus reducing the influence of saturation limitation on the speed regulation performance of the system. Simulation results show that the proposed method can effectively reduce the negative effect of saturation limitation on the speed regulation performance of the system. Secondly, aiming at the effect of buffeting on the control performance of the speed regulating system in sliding mode control, this paper first analyzes the contradiction between the system approach speed and the buffeting level of the traditional sliding mode control approach law, which is represented by the exponential approach law. On this basis, a sliding mode anti-saturation control based on convergent exponential approach law is designed. Secondly, by comparing the proposed approach law scheme with the traditional exponential approach law, it can be seen that the proposed method can effectively suppress the chattering of the system, and at the same time, it retains the advantage of fast response of the traditional exponential approach law. Two kinds of simulations are carried out to verify the good performance of the sliding mode control and the sliding mode anti-saturation control in the motor speed control system. Furthermore, in view of the problem that the switching control in sliding mode control will inevitably lead to buffeting, this paper designs a neural network anti-saturation control, which uses neural network control instead of switching control to avoid buffeting. At the same time, parallel control is introduced to avoid the neural network falling into local convergence. The simulation results show that the proposed scheme can not only retain the advantages of fast response of sliding mode control and high precision of speed regulation, but also avoid the chattering of the system in the PMSM speed control system. Finally, the advantages of the sliding mode control method designed in this paper are verified by experiments. Firstly, the hardware platform and software flow of the PMSM speed control system are introduced, and then the digital realization of incremental sliding mode anti-saturation control is given. Finally, the dynamic and steady performance of the algorithm is verified by start-up and speed regulation experiments, and the time complexity of the algorithm is compared and analyzed.
【學(xué)位授予單位】：中國(guó)科學(xué)技術(shù)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TM341

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