基于LADRC的PMSM伺服系統(tǒng)研究
發(fā)布時間：2019-03-12 13:50
【摘要】：永磁同步電機(Permanent Magnet Synchronous Motor,PMSM)以其高功率密度、高轉(zhuǎn)矩/慣量比、高效率和易維護等優(yōu)點,在航空航天、雷達、數(shù)控機床和機器人等伺服應(yīng)用場合取得了廣泛的應(yīng)用。傳統(tǒng)的PMSM伺服系統(tǒng)大多采用PI控制器。而PMSM本身是一個多變量、強耦合、非線性的的控制對象,傳統(tǒng)的PI控制器很難滿足伺服系統(tǒng)的高性能需求。為此,本文從以下三個方面研究了線性自抗擾控制器(LADRC)在PMSM伺服系統(tǒng)的應(yīng)用。(1)為了提高永磁同步電機(PMSM)調(diào)速系統(tǒng)的抗擾動和噪聲抑制能力,對PMSM轉(zhuǎn)速環(huán)設(shè)計了三種LADRC,即傳統(tǒng)線性自抗擾控制器(TLADRC)、高階線性自抗擾控制器(HLADRC)和降維線性自抗擾控制器(RLADRC)。各LADRC的區(qū)別在于線性擴張狀態(tài)觀測器(LESO)的不同,即傳統(tǒng)線性擴張狀態(tài)觀測器(TLESO)、高階線性擴張狀態(tài)觀測器(HLESO)和降維線性擴張狀態(tài)觀測器(RLESO)。采用疊加原理對各LADRC控制轉(zhuǎn)速環(huán)的穩(wěn)定性進行了證明,同時還對各LESO的收斂條件進行了分析。再通過對各LESO的頻域分析,結(jié)合對各LADRC控制的轉(zhuǎn)速環(huán)進行仿真,對比了三種不同LADRC控制下,PMSM調(diào)速系統(tǒng)的擾動抑制能力與噪聲抑制能力。所得出的結(jié)論可為LADRC應(yīng)用中LESO的選取提供有力的支持,為PMSM調(diào)速系統(tǒng)的優(yōu)化設(shè)計提供了理論依據(jù)。(2)傳統(tǒng)的位置伺服系統(tǒng)設(shè)計大多按照串級控制來實現(xiàn),即由內(nèi)到外分別是電流環(huán)、速度環(huán)和位置環(huán)。但是,這必然要求三個傳感器分別對電流、速度和位置進行測量,傳感器的增加不僅增加了經(jīng)濟成本,也會引入較多的噪聲,雖然也可以不采用速度傳感器,而是直接對位置進行差分,但是這會帶來相應(yīng)的問題:因為位置是滯后速度90°的,通過對位置進行差分必然帶來速度的滯后;差分會放大傳感器噪聲。為此,本章提出了位置伺服系統(tǒng)一體化設(shè)計方案,即保留電流環(huán),并把速度環(huán)和位置環(huán)視為一個二階系統(tǒng),對其進行三階LADRC的設(shè)計。為了實現(xiàn)數(shù)字化控制,對LADRC進行了零階保持采樣方式的離散化設(shè)計。另外,本文還對位置伺服系統(tǒng)跟蹤連續(xù)時變信號的所產(chǎn)生的誤差原因進行了分析,并提出了通過增加微分前饋來解決該問題。(3)為了抑制永磁同步電機(PMSM)帶柔性負載伺服系統(tǒng)的機械諧振,設(shè)計了兩種電機側(cè)速度反饋的LADRC,即LADRC1和LADRC2。通過對兩種LADRC進行數(shù)學(xué)推導(dǎo),得到了二自由度的LADRC閉環(huán)控制系統(tǒng)形式,以此為基礎(chǔ),分別得到了擾動和噪聲到系統(tǒng)輸出的傳遞函數(shù),并進行了頻域分析,而后的時域仿真分析驗證了頻域分析的結(jié)論。所得的結(jié)論為PMSM帶柔性負載伺服系統(tǒng)的控制器選擇提供了理論依據(jù)。
[Abstract]:Permanent magnet synchronous motor (Permanent Magnet Synchronous Motor,PMSM) has been widely used in aerospace radar CNC machine and robot servo applications because of its high power density high torque / inertia ratio high efficiency and easy maintenance. The traditional PMSM servo system mostly uses PI controller. PMSM itself is a multi-variable, strong coupling, nonlinear control object, the traditional PI controller is difficult to meet the high-performance requirements of servo systems. In this paper, the application of linear auto-disturbance rejection controller (LADRC) in PMSM servo system is studied in three aspects. (1) in order to improve the anti-disturbance and noise suppression ability of (PMSM) speed regulation system of permanent magnet synchronous motor (PMSM), Three kinds of LADRC, (traditional linear ADRC (TLADRC),) and reduced dimension linear ADRC controller (RLADRC). (reduced dimension linear ADRC) are designed for PMSM speed loop, namely, high order linear ADRC (HLADRC) and reduced dimension linear ADRC (RLADRC). The difference of each LADRC lies in the difference of the linear extended state observer (LESO), that is, the traditional linear extended state observer (TLESO), the higher order linear extended state observer (HLESO), and the reduced dimension linear extended state observer (RLESO). The stability of each LADRC control speed loop is proved by the superposition principle, and the convergence conditions of each LESO are also analyzed. Through the frequency domain analysis of each LESO and the simulation of the rotational speed loop controlled by each LADRC, the disturbance and noise suppression abilities of the PMSM speed regulation system under three different LADRC control are compared. The conclusions can provide powerful support for the selection of LESO in LADRC application, and provide the theoretical basis for the optimization design of PMSM speed regulation system. (2) the traditional position servo system design is mostly realized by cascade control. That is, from inside to outside are current loop, velocity loop and position loop. However, this necessarily requires the three sensors to measure the current, speed and position separately. The increase of the sensor not only increases the economic cost, but also introduces more noise, although the speed sensor can also be used without the use of the speed sensor. But directly to the position difference, but this will lead to the corresponding problems: because the position is 90 擄lag speed, through the position of the difference will inevitably lead to the lag of the speed; Differential amplification sensor noise. Therefore, the integrated design scheme of position servo system is presented in this chapter, that is, the current loop is reserved, and the speed loop and position loop are regarded as a second-order system, and the third-order LADRC is designed for them. In order to realize digital control, the discrete design of zero-order holding sampling mode for LADRC is carried out. In addition, the error reason of tracking continuous time-varying signal by position servo system is also analyzed in this paper. The problem is solved by adding differential feedforward. (3) in order to suppress the mechanical resonance of permanent magnet synchronous motor (PMSM) (PMSM) with flexible load servo system, two kinds of side velocity feedback LADRC, of PMSM, namely LADRC1 and LADRC2., are designed. Through mathematical derivation of two kinds of LADRC, the form of two-degree-of-freedom closed-loop LADRC control system is obtained. Based on this, the transfer functions of disturbance and noise to the output of the system are obtained, and the frequency domain analysis is carried out. The conclusion of the frequency domain analysis is verified by the time domain simulation analysis. The conclusion provides a theoretical basis for the controller selection of PMSM servo system with flexible load.
【學(xué)位授予單位】：西南石油大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TM341
本文編號：2438839
[Abstract]:Permanent magnet synchronous motor (Permanent Magnet Synchronous Motor,PMSM) has been widely used in aerospace radar CNC machine and robot servo applications because of its high power density high torque / inertia ratio high efficiency and easy maintenance. The traditional PMSM servo system mostly uses PI controller. PMSM itself is a multi-variable, strong coupling, nonlinear control object, the traditional PI controller is difficult to meet the high-performance requirements of servo systems. In this paper, the application of linear auto-disturbance rejection controller (LADRC) in PMSM servo system is studied in three aspects. (1) in order to improve the anti-disturbance and noise suppression ability of (PMSM) speed regulation system of permanent magnet synchronous motor (PMSM), Three kinds of LADRC, (traditional linear ADRC (TLADRC),) and reduced dimension linear ADRC controller (RLADRC). (reduced dimension linear ADRC) are designed for PMSM speed loop, namely, high order linear ADRC (HLADRC) and reduced dimension linear ADRC (RLADRC). The difference of each LADRC lies in the difference of the linear extended state observer (LESO), that is, the traditional linear extended state observer (TLESO), the higher order linear extended state observer (HLESO), and the reduced dimension linear extended state observer (RLESO). The stability of each LADRC control speed loop is proved by the superposition principle, and the convergence conditions of each LESO are also analyzed. Through the frequency domain analysis of each LESO and the simulation of the rotational speed loop controlled by each LADRC, the disturbance and noise suppression abilities of the PMSM speed regulation system under three different LADRC control are compared. The conclusions can provide powerful support for the selection of LESO in LADRC application, and provide the theoretical basis for the optimization design of PMSM speed regulation system. (2) the traditional position servo system design is mostly realized by cascade control. That is, from inside to outside are current loop, velocity loop and position loop. However, this necessarily requires the three sensors to measure the current, speed and position separately. The increase of the sensor not only increases the economic cost, but also introduces more noise, although the speed sensor can also be used without the use of the speed sensor. But directly to the position difference, but this will lead to the corresponding problems: because the position is 90 擄lag speed, through the position of the difference will inevitably lead to the lag of the speed; Differential amplification sensor noise. Therefore, the integrated design scheme of position servo system is presented in this chapter, that is, the current loop is reserved, and the speed loop and position loop are regarded as a second-order system, and the third-order LADRC is designed for them. In order to realize digital control, the discrete design of zero-order holding sampling mode for LADRC is carried out. In addition, the error reason of tracking continuous time-varying signal by position servo system is also analyzed in this paper. The problem is solved by adding differential feedforward. (3) in order to suppress the mechanical resonance of permanent magnet synchronous motor (PMSM) (PMSM) with flexible load servo system, two kinds of side velocity feedback LADRC, of PMSM, namely LADRC1 and LADRC2., are designed. Through mathematical derivation of two kinds of LADRC, the form of two-degree-of-freedom closed-loop LADRC control system is obtained. Based on this, the transfer functions of disturbance and noise to the output of the system are obtained, and the frequency domain analysis is carried out. The conclusion of the frequency domain analysis is verified by the time domain simulation analysis. The conclusion provides a theoretical basis for the controller selection of PMSM servo system with flexible load.
【學(xué)位授予單位】：西南石油大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TM341
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