【摘要】：永磁同步電機(jī)(PMSM)以其體積小、重量輕、價(jià)格低廉、效率高等獨(dú)有優(yōu)勢(shì)在交流調(diào)速系統(tǒng)中占據(jù)了十分重要的地位。在電機(jī)的實(shí)際運(yùn)行過(guò)程中,對(duì)于所有控制算法,轉(zhuǎn)子速度和位置都是必要信息,該信息一般通過(guò)安裝位置傳感器獲取。而高性能、高精度的位置傳感器增加了使用成本,且因?yàn)橐蟮氖褂铆h(huán)境過(guò)于嚴(yán)格,限制了永磁同步電機(jī)進(jìn)一步的廣泛使用。本文論述了一種基于擴(kuò)展卡爾曼濾波無(wú)位置傳感器永磁同步電機(jī)的控制方法,對(duì)其進(jìn)行了詳細(xì)分析。首先,在對(duì)永磁同步電機(jī)數(shù)學(xué)模型分析的基礎(chǔ)上,結(jié)合矢量控制和空間矢量脈寬調(diào)制技術(shù)(SVPWM),建立了基于轉(zhuǎn)子磁場(chǎng)定向的永磁同步電機(jī)矢量控制系統(tǒng)。運(yùn)用一種新的方法設(shè)計(jì)PI調(diào)節(jié)器的參數(shù),并在MATLAB的SIMULINK環(huán)境下仿真,仿真結(jié)果表明該方法設(shè)計(jì)的控制系統(tǒng)可以獲得良好的性能。重新搭建系統(tǒng)仿真模型,論證了SVPWM算法的原理。其次,分析卡爾曼濾波理論的基本原理,重點(diǎn)是狀態(tài)方程的最優(yōu)估計(jì)以及非線性系統(tǒng)的線性化。將擴(kuò)展卡爾曼濾波(EKF)算法運(yùn)用在永磁同步電機(jī)控制系統(tǒng)中,推導(dǎo)出永磁同步電機(jī)在兩相靜止坐標(biāo)系下的EKF方程。在MATLAB的SIMULINK仿真環(huán)境下建模,分析轉(zhuǎn)子位置和轉(zhuǎn)速變化曲線,結(jié)果表明使用EKF算法設(shè)計(jì)的控制系統(tǒng)具有較好的轉(zhuǎn)速和位置跟蹤性能。分析負(fù)載變化和EKF算法中協(xié)方差矩陣系數(shù)變化時(shí)對(duì)控制系統(tǒng)性能的影響,并給出協(xié)方差矩陣的設(shè)計(jì)規(guī)則。最后,以TI公司的TMS320F28335型號(hào)DSP芯片為核心,設(shè)計(jì)了控制系統(tǒng)軟、硬件結(jié)構(gòu)和主要功能模塊的原理及其實(shí)現(xiàn)方法。硬件部分設(shè)計(jì)了控制系統(tǒng)的控制電路和其他輔助電路,軟件部分編寫(xiě)系統(tǒng)的主程序、中斷子程序和各個(gè)部分的軟件實(shí)現(xiàn)程序,并在實(shí)驗(yàn)平臺(tái)上完成了系統(tǒng)的調(diào)試。
[Abstract]:Permanent magnet synchronous motor (PMSM) (PMSM) occupies a very important position in AC speed regulation system because of its unique advantages such as small size, light weight, low price and high efficiency. In the actual operation of the motor, the speed and position of the rotor are necessary information for all control algorithms, which is usually obtained by installing the position sensor. The high performance and high precision position sensor increases the cost of use and restricts the extensive use of PMSM because of the strict use environment. In this paper, a control method of sensorless permanent magnet synchronous motor based on extended Kalman filter is presented and analyzed in detail. Firstly, on the basis of analyzing the mathematical model of PMSM, the vector control system of PMSM based on rotor flux orientation is established by combining vector control and space vector pulse width modulation (SVPWM),) technology. The parameters of PI regulator are designed by a new method and simulated in MATLAB SIMULINK environment. The simulation results show that the control system designed by this method can achieve good performance. The principle of SVPWM algorithm is demonstrated by reconstructing the system simulation model. Secondly, the basic principle of Kalman filtering theory is analyzed. The emphasis is on the optimal estimation of state equations and linearization of nonlinear systems. The extended Kalman filter (EKF) algorithm is applied to the permanent magnet synchronous motor (PMSM) control system, and the EKF equation of PMSM in two-phase stationary coordinate system is derived. In the SIMULINK simulation environment of MATLAB, the changing curves of rotor position and speed are analyzed. The results show that the control system designed by EKF algorithm has better speed and position tracking performance. The influence of load variation and covariance matrix coefficient variation in EKF algorithm on the control system performance is analyzed, and the design rules of covariance matrix are given. Finally, the principle and realization method of control system software, hardware structure and main function module are designed based on TMS320F28335 DSP chip of TI Company. The hardware part designs the control circuit and other auxiliary circuits of the control system, the software part writes the main program of the system, interrupts the subroutine and the software realization program of each part, and completes the debugging of the system on the experimental platform.
【學(xué)位授予單位】：深圳大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TM341;TP273

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