發(fā)布時(shí)間：2018-11-04 16:02

【摘要】：永磁同步電機(jī)作為在高精度伺服場(chǎng)合的主要執(zhí)行元件得到了越來(lái)越廣泛的應(yīng)用。但傳統(tǒng)永磁同步電機(jī)控制系統(tǒng)中電機(jī)存在齒槽轉(zhuǎn)矩、反電勢(shì)含有諧波成分以及逆變器中功率器件的非線性等問(wèn)題導(dǎo)致伺服電機(jī)系統(tǒng)產(chǎn)生了轉(zhuǎn)矩脈動(dòng),影響了控制系統(tǒng)的控制性能。本文針對(duì)永磁同步電機(jī)系統(tǒng)轉(zhuǎn)矩脈動(dòng)影響因素進(jìn)行分析,通過(guò)電機(jī)結(jié)構(gòu)設(shè)計(jì)優(yōu)化和轉(zhuǎn)矩脈動(dòng)抑制控制策略以及死區(qū)補(bǔ)償控制方法的研究,以達(dá)到降低轉(zhuǎn)矩脈動(dòng)的目的。論文主要研究?jī)?nèi)容如下:針對(duì)國(guó)內(nèi)外永磁同步電機(jī)系統(tǒng)轉(zhuǎn)矩脈動(dòng)抑制技術(shù)的研究現(xiàn)狀進(jìn)行綜述,分析各類抑制永磁同步電機(jī)轉(zhuǎn)矩脈動(dòng)的結(jié)構(gòu)優(yōu)化方法以及控制策略,總結(jié)歸納各優(yōu)化方法以及控制策略的優(yōu)缺點(diǎn)。通過(guò)理論推導(dǎo)對(duì)永磁同步電機(jī)轉(zhuǎn)矩脈動(dòng)影響因素進(jìn)行分析,探討定轉(zhuǎn)子結(jié)構(gòu)、永磁體、隔磁橋、極槽配合等結(jié)構(gòu)參數(shù)對(duì)電機(jī)轉(zhuǎn)矩脈動(dòng)影響,研究反電勢(shì)和氣隙磁密諧波以及齒槽轉(zhuǎn)矩對(duì)電機(jī)輸出轉(zhuǎn)矩的影響。采用有限元仿真對(duì)轉(zhuǎn)子偏心距、永磁體參數(shù)進(jìn)行設(shè)計(jì)優(yōu)化從而降低反電勢(shì)和氣隙磁密諧波,并在此基礎(chǔ)上提出一種基于新型輔助隔磁橋的電機(jī)優(yōu)化設(shè)計(jì)方法,從而進(jìn)一步優(yōu)化磁路,增強(qiáng)對(duì)電機(jī)轉(zhuǎn)矩脈動(dòng)的抑制效果。針對(duì)死區(qū)電壓偏差引起電流畸變從而導(dǎo)致電機(jī)轉(zhuǎn)矩脈動(dòng)增大的問(wèn)題,分析死區(qū)時(shí)間對(duì)相電壓和相電流的影響,得到在功率器件開(kāi)通關(guān)斷時(shí)間以及管壓降固定的前提下死區(qū)擾動(dòng)電壓的變化規(guī)律。研究一種基于判定中值電壓相的電流方向與三相參考輸出電壓的直接補(bǔ)償法補(bǔ)償死區(qū)偏差,從而抑制電機(jī)在穩(wěn)定運(yùn)行狀態(tài)下的電流諧波和轉(zhuǎn)矩脈動(dòng),并對(duì)該方法進(jìn)行系統(tǒng)建模與仿真。為解決逆變電路中功率器件電流變化導(dǎo)致器件的開(kāi)通關(guān)斷時(shí)間以及管壓降變化的問(wèn)題,建立死區(qū)擾動(dòng)電壓在靜止和旋轉(zhuǎn)坐標(biāo)系中的電壓矢量模型,利用擾動(dòng)電壓矢量幅值變化趨勢(shì)相對(duì)穩(wěn)定的特征,采用一種死區(qū)電壓觀測(cè)器對(duì)逆變器的死區(qū)電壓進(jìn)行實(shí)時(shí)辨識(shí),以精確補(bǔ)償死區(qū)電壓。為提高電流環(huán)的魯棒性,提出一種基于死區(qū)電壓觀測(cè)器與MRAC聯(lián)合的控制策略對(duì)電流環(huán)擾動(dòng)及轉(zhuǎn)矩脈動(dòng)進(jìn)行抑制。最后,基于DSP控制芯片研制永磁同步電機(jī)轉(zhuǎn)矩脈動(dòng)抑制控制器,制定測(cè)試方案,搭建測(cè)試平臺(tái)。針對(duì)樣機(jī)的磁鏈以及直交軸電感進(jìn)行測(cè)量,并進(jìn)行基于MRAC的控制策略實(shí)驗(yàn)與基于死區(qū)觀測(cè)器與MRAC聯(lián)合的補(bǔ)償控制策略實(shí)驗(yàn)。驗(yàn)證MRAC以及死區(qū)觀測(cè)器控制策略的轉(zhuǎn)矩脈動(dòng)抑制和擾動(dòng)補(bǔ)償效果。
[Abstract]:Permanent magnet synchronous motor (PMSM) is widely used as the main actuator in high precision servo field. However, in the traditional PMSM control system, the torque ripple of the servo motor system is caused by the torque ripple of the servo motor system, which includes the harmonic component in the back EMF and the nonlinearity of the power device in the inverter. The control performance of the control system is affected. In this paper, the influence factors of torque ripple in permanent magnet synchronous motor system are analyzed, and the torque ripple reduction control strategy and dead-time compensation control method are studied to reduce torque ripple through the optimization of motor structure design and the research of torque ripple suppression control strategy. The main contents of this paper are as follows: according to the research status of torque ripple suppression technology in PMSM system at home and abroad, the structure optimization method and control strategy of PMSM torque ripple suppression are analyzed. The advantages and disadvantages of various optimization methods and control strategies are summarized. The influence factors of torque ripple of permanent magnet synchronous motor (PMSM) are analyzed by theoretical derivation, and the influence of structure parameters such as stator and rotor structure, permanent magnet, magnet isolation bridge and pole slot matching on torque ripple is discussed. The effects of reverse EMF, air-gap magnetic density harmonics and grooving torque on the output torque of the motor are studied. The rotor eccentricity and permanent magnet parameters are designed and optimized by finite element simulation to reduce the back EMF and air-gap magnetic density harmonics. On this basis, an optimal design method of the motor based on the new auxiliary magnetic isolation bridge is proposed. Thus, the magnetic circuit is further optimized and the torque ripple suppression effect is enhanced. In order to solve the problem that the current distortion caused by dead-time voltage deviation leads to the increase of torque ripple of motor, the influence of dead-time on phase voltage and phase current is analyzed. The variation of dead-zone disturbance voltage is obtained under the condition of turn-on time and fixed voltage drop of the power device. A direct compensation method based on the determination of the direction of the median voltage phase and the three-phase reference output voltage is proposed to compensate the dead-time deviation, which can suppress the current harmonics and torque ripple of the motor in stable operation. The method is modeled and simulated. In order to solve the problem of switching off time and voltage drop of power device due to the change of power device current in inverter circuit, a voltage vector model of dead-zone disturbance voltage in stationary and rotating coordinate system is established. A dead-time voltage observer is used to identify the dead-time voltage of the inverter in order to accurately compensate the dead-time voltage by using the characteristic that the amplitude of the disturbance voltage vector is relatively stable. In order to improve the robustness of the current loop, a control strategy based on dead-time voltage observer and MRAC is proposed to suppress the disturbance and torque ripple of the current loop. Finally, the torque ripple suppression controller of PMSM is developed based on DSP control chip. The flux chain and direct-axis inductance of the prototype are measured, and the control strategy experiment based on MRAC and compensation strategy experiment based on dead-time observer and MRAC is carried out. The torque ripple suppression and disturbance compensation effect of MRAC and dead-time observer control strategy are verified.
【學(xué)位授予單位】：哈爾濱工業(yè)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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