發(fā)布時(shí)間：2019-01-12 19:46

【摘要】：永磁同步電動(dòng)機(jī)(PMSM)具有結(jié)構(gòu)簡(jiǎn)單、損耗小、效率高、功率密度高、運(yùn)行可靠等優(yōu)點(diǎn),在交流調(diào)速系統(tǒng)中得到廣泛應(yīng)用;永磁同步電動(dòng)機(jī)調(diào)速系統(tǒng)控制策略的研究更是近年來(lái)的研究熱點(diǎn)。本文以永磁同步電動(dòng)機(jī)為研究對(duì)象,為實(shí)現(xiàn)高性能控制,從內(nèi)而外,分別對(duì)電流環(huán)、轉(zhuǎn)速環(huán)常用控制策略進(jìn)行深入分析和研究。首先,介紹永磁同步電動(dòng)機(jī)結(jié)構(gòu)、數(shù)學(xué)模型及矢量控制原理。從基本的電磁關(guān)系入手,簡(jiǎn)單分析矢量控制時(shí)的幾種方法,根據(jù)不同方法的轉(zhuǎn)速-轉(zhuǎn)矩特性確定采用id=0的矢量控制。傳統(tǒng)的雙PI控制調(diào)速系統(tǒng)由于d、q軸電流耦合,存在動(dòng)態(tài)特性差的問(wèn)題,采用電壓前饋解耦控制補(bǔ)償耦合項(xiàng),改善了調(diào)速系統(tǒng)的動(dòng)態(tài)特性。接著,采用傳統(tǒng)無(wú)差拍控制設(shè)計(jì)電流環(huán),從原理上降低了定子電流的諧波含量。針對(duì)傳統(tǒng)無(wú)差拍控制對(duì)系統(tǒng)參數(shù)依賴性較大的特點(diǎn),設(shè)計(jì)改進(jìn)無(wú)差拍電流控制器,降低了系統(tǒng)對(duì)參數(shù)變化的敏感度。由于FCS-MPC可實(shí)現(xiàn)單目標(biāo)及多目標(biāo)控制,適用于高性能傳動(dòng)控制,因此又采用FCS-MPC設(shè)計(jì)電流環(huán),并對(duì)模型預(yù)測(cè)控制的尋優(yōu)機(jī)理及其可產(chǎn)生的最大電流誤差進(jìn)行分析。針對(duì)FCS-MPC計(jì)算量大的問(wèn)題,采用基于快速矢量選擇的模型預(yù)測(cè)控制對(duì)FCS-MPC進(jìn)行完善。然后,采用滑模趨近律控制設(shè)計(jì)轉(zhuǎn)速環(huán),較之PI控制提高了系統(tǒng)轉(zhuǎn)速動(dòng)態(tài)特性和抗擾性。先對(duì)簡(jiǎn)單易實(shí)現(xiàn)的等速趨近律進(jìn)行分析,指出其趨近速度與滑模抖振水平之間的關(guān)系,并設(shè)計(jì)基于等速趨近律的滑模速度控制器。冪次趨近律與等速趨近律相比抖振小,但趨近速度慢,因而在其基礎(chǔ)上提出了快速冪次趨近律,在有效提高趨近速度的同時(shí)進(jìn)一步抑制抖振現(xiàn)象,解決了現(xiàn)有趨近律趨近時(shí)間久的問(wèn)題。給出了快速冪次趨近律的轉(zhuǎn)速滑模控制器設(shè)計(jì)方法與過(guò)程,構(gòu)建了永磁同步電機(jī)滑模調(diào)速系統(tǒng),提高了系統(tǒng)控制性能。最后,基于實(shí)驗(yàn)室現(xiàn)有資源,搭建永磁同步電動(dòng)機(jī)調(diào)速控制系統(tǒng)的硬件平臺(tái),在平臺(tái)上完成基于電壓前饋解耦控制PMSM矢量控制實(shí)驗(yàn)、預(yù)測(cè)控制實(shí)驗(yàn)和滑模變結(jié)構(gòu)控制實(shí)驗(yàn),驗(yàn)證了本文所提控制策略的可行性和有效性。
[Abstract]:Permanent magnet synchronous motor (PMSM) has many advantages, such as simple structure, low loss, high efficiency, high power density and reliable operation, so it is widely used in AC speed regulation system. The research on the control strategy of permanent magnet synchronous motor (PMSM) speed control system is a hot topic in recent years. In this paper, the permanent magnet synchronous motor (PMSM) is taken as the research object. In order to realize the high performance control, the common control strategies of the current loop and the rotational speed loop are analyzed and studied from the inside out. Firstly, the structure, mathematical model and vector control principle of PMSM are introduced. Based on the basic electromagnetic relation, several methods of vector control are simply analyzed. According to the rotational speed and torque characteristics of different methods, the vector control using id=0 is determined. The traditional dual PI control speed control system has the problem of poor dynamic characteristic because of the current coupling of dl Q axis. The coupling term is compensated by voltage feedforward decoupling control, which improves the dynamic characteristic of the speed control system. Then, the traditional beat-free control is used to design the current loop, which can reduce the harmonic content of stator current in principle. In view of the characteristic that the traditional beat control is dependent on the parameters of the system, an improved deadbeat current controller is designed to reduce the sensitivity of the system to the parameter change. Because FCS-MPC can realize single-objective and multi-objective control and is suitable for high performance drive control, FCS-MPC is used to design current loop. The optimization mechanism of model predictive control and its maximum current error are analyzed. The model predictive control based on fast vector selection is used to perfect FCS-MPC. Then, the sliding mode approach law is used to design the rotational speed loop, which improves the dynamic characteristic and immunity of the system speed compared with PI control. This paper first analyzes the simple and easy to realize the constant velocity approach law, points out the relationship between the approach velocity and the level of chattering of sliding mode, and designs a sliding mode velocity controller based on the constant velocity approach law. Compared with the constant velocity approach law, the power law is less buffeting, but the approach speed is slow. Therefore, a fast power law is proposed on the basis of the law, which can effectively increase the approach speed and further suppress the chattering phenomenon. The problem of the current approach law is solved for a long time. The design method and process of speed sliding mode controller with fast power approach law are presented. The sliding mode speed control system of permanent magnet synchronous motor is constructed and the control performance of the system is improved. Finally, based on the existing resources in the laboratory, the hardware platform of the PMSM speed control system is built. The experiments of PMSM vector control based on voltage feedforward decoupling control, predictive control experiment and sliding mode variable structure control experiment are completed on the platform. The feasibility and effectiveness of the proposed control strategy are verified.
【學(xué)位授予單位】：中國(guó)礦業(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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本文編號(hào)：2408123