【摘要】：高效率,高性能,低成本是現(xiàn)代交流伺服系統(tǒng)的發(fā)展趨勢。永磁同步電動(dòng)機(jī)作為伺服系統(tǒng)中重要一環(huán),具有結(jié)構(gòu)簡單、體積小、效率高、運(yùn)行可靠、調(diào)速范圍寬、動(dòng)靜態(tài)特性好等優(yōu)點(diǎn),廣泛的用于工業(yè)生產(chǎn)、國防、日常等各個(gè)方面。但永磁同步電動(dòng)機(jī)轉(zhuǎn)矩脈動(dòng)的存在使其在高精度場合的應(yīng)用受到了限制,同時(shí),轉(zhuǎn)矩的脈動(dòng)還導(dǎo)致了轉(zhuǎn)速的脈動(dòng)。所以研究永磁同步電動(dòng)機(jī)的轉(zhuǎn)矩脈動(dòng)抑制策略,增加轉(zhuǎn)矩平滑度,具有重大的工程意義。本文從控制的角度,對引起電磁轉(zhuǎn)矩脈動(dòng)的紋波轉(zhuǎn)矩和齒槽轉(zhuǎn)矩進(jìn)行抑制,達(dá)到降低電磁轉(zhuǎn)矩脈動(dòng)的目的。首先,本文推導(dǎo)了PMSM運(yùn)行的基波數(shù)學(xué)模型與諧波數(shù)學(xué)模型,分析了電磁轉(zhuǎn)矩與諧波之間的關(guān)系,SVPWM原理及實(shí)現(xiàn)方式。其次,逆變器等的非線性特性使PMSM運(yùn)行時(shí)電流中含有大量諧波,導(dǎo)致電流的畸變,電機(jī)運(yùn)行在一定頻率范圍,電流的畸變會引起PMSM電磁轉(zhuǎn)矩的脈動(dòng),產(chǎn)生紋波轉(zhuǎn)矩,嚴(yán)重時(shí)可能導(dǎo)致系統(tǒng)不穩(wěn)定運(yùn)行。通過對逆變器中死區(qū)時(shí)間引起的電流諧波進(jìn)行分析,提出電流預(yù)測法和電流矢量法來判斷電流極性,通過時(shí)間脈沖補(bǔ)償法來補(bǔ)償死區(qū)時(shí)間導(dǎo)致的誤差電壓,從而抑制死區(qū)時(shí)間對電流諧波的影響。搭建基于時(shí)間脈沖補(bǔ)償法的PMSM控制系統(tǒng)仿真模型,對比相同轉(zhuǎn)速下死區(qū)補(bǔ)償前后相電流波形、轉(zhuǎn)速波形及電磁轉(zhuǎn)矩波形分析,該死區(qū)補(bǔ)償算法降低了電流中諧波成分,削弱了電磁轉(zhuǎn)矩脈動(dòng)。再次,齒槽轉(zhuǎn)矩是PMSM的特有屬性,在電機(jī)運(yùn)行過程中同樣會引起電磁轉(zhuǎn)矩的波動(dòng),低速時(shí)更加的明顯。本文通過有限元軟件Ansoft對PMSM的齒槽轉(zhuǎn)矩進(jìn)行分析,得到齒槽轉(zhuǎn)矩的周期性波動(dòng)規(guī)律,利用傅里葉分解計(jì)算得到PMSM齒槽轉(zhuǎn)矩各次諧波分量,通過公式的推導(dǎo)和計(jì)算,得到齒槽轉(zhuǎn)矩與電流之間的關(guān)系。在搭建PMSM非線性模型和完成矢量控制仿真系統(tǒng)的基礎(chǔ)上,加入齒槽轉(zhuǎn)矩抑制模塊,對齒槽轉(zhuǎn)矩引起的轉(zhuǎn)矩脈動(dòng)進(jìn)行抑制。其具體方法:采取注入交軸諧波電流,使得該電流產(chǎn)生的附加電磁轉(zhuǎn)矩與齒槽轉(zhuǎn)矩幅值相等、相位相反,以達(dá)到補(bǔ)償?shù)哪康?降低齒槽轉(zhuǎn)矩對電磁轉(zhuǎn)矩脈動(dòng)的影響。最后,在建立仿真模型的基礎(chǔ)上,同時(shí)加入死區(qū)補(bǔ)償算法與注入交軸諧波電流法,一方面抑制死區(qū)時(shí)間引起的電流諧波,另一方面抑制齒槽轉(zhuǎn)矩的影響,進(jìn)一步削弱了電磁轉(zhuǎn)矩脈動(dòng),驗(yàn)證了該方法的合理性。
[Abstract]:High efficiency, high performance and low cost are the development trend of modern AC servo system. As an important link in servo system, permanent magnet synchronous motor (PMSM) has the advantages of simple structure, small size, high efficiency, reliable operation, wide speed range, good dynamic and static characteristics, and is widely used in industrial production, national defense, daily life and so on. However, the torque ripple of permanent magnet synchronous motor (PMSM) limits its application in high-precision situations, and the torque ripple also leads to the pulsation of rotational speed. Therefore, it is of great engineering significance to study the torque ripple suppression strategy of PMSM and increase the torque smoothness. In this paper, the ripple torque and grooving torque caused by electromagnetic torque ripple are suppressed from the point of view of control, so as to reduce the electromagnetic torque ripple. Firstly, the fundamental wave mathematical model and harmonic mathematical model of PMSM are derived, and the relationship between electromagnetic torque and harmonic, the principle of SVPWM and its realization are analyzed. Secondly, the nonlinear characteristics of the inverter make the current of PMSM contain a lot of harmonics, which leads to the distortion of the current. The current distortion will cause the ripple of PMSM electromagnetic torque and the ripple torque when the motor runs in a certain frequency range. Serious cases can lead to unstable operation of the system. By analyzing the current harmonics caused by dead time in inverter, the current prediction method and current vector method are proposed to judge the current polarity, and the time pulse compensation method is used to compensate the error voltage caused by dead time. Therefore, the influence of dead time on current harmonics is restrained. The simulation model of PMSM control system based on time pulse compensation method is built. The analysis of phase current waveform, speed waveform and electromagnetic torque waveform under the same speed is compared. The damned zone compensation algorithm reduces the harmonic component in the current. The electromagnetic torque ripple is weakened. Thirdly, the slotting torque is a special attribute of PMSM, which will also cause electromagnetic torque fluctuation in the motor running process, and it is more obvious at low speed. In this paper, the finite element software Ansoft is used to analyze the grooving torque of PMSM, and the periodic fluctuation law of the slotting torque is obtained. The harmonic components of the PMSM slotting torque are calculated by Fourier decomposition, and the formula is derived and calculated. The relationship between the torque and the current is obtained. Based on the PMSM nonlinear model and the vector control simulation system, the torque ripple caused by the tooth slot torque is suppressed by adding the gear slot torque suppression module. The specific methods are as follows: the additional electromagnetic torque produced by the current is equal to the slotting torque amplitude and the phase is opposite by injecting the alternating axis harmonic current, so as to achieve the purpose of compensation and reduce the influence of the tooth slot torque on the electromagnetic torque ripple. Finally, on the basis of the simulation model, the dead-zone compensation algorithm and the injected cross-axis harmonic current method are added to suppress the current harmonics caused by the dead-time and the influence of the tooth slot torque on the other hand. The electromagnetic torque ripple is further weakened and the rationality of the method is verified.
【學(xué)位授予單位】：沈陽工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TM341

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