本文關(guān)鍵詞：基于速度觀測(cè)器的PMSM轉(zhuǎn)動(dòng)慣量辨識(shí)研究　出處：《華中科技大學(xué)》2015年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 永磁同步電機(jī)(PMSM) 最小二乘法 速度觀測(cè)器 慣量辨識(shí)

【摘要】：隨著永磁同步電機(jī)(PMSM)交流伺服系統(tǒng)在越來(lái)越多的高性能運(yùn)動(dòng)控制領(lǐng)域中的廣泛應(yīng)用,如何提高系統(tǒng)的控制精度、穩(wěn)定性、靜態(tài)及動(dòng)態(tài)性能就顯得尤為重要,然而電機(jī)及其負(fù)載的轉(zhuǎn)動(dòng)慣量是影響系統(tǒng)中控制器控制參數(shù)的主要因素之一。因此,若能及時(shí)辨識(shí)出PMSM伺服系統(tǒng)的轉(zhuǎn)動(dòng)慣量,然后依據(jù)其變化對(duì)系統(tǒng)中的控制器參數(shù)實(shí)施調(diào)整以補(bǔ)償其對(duì)系統(tǒng)控制帶來(lái)的影響,就可以提高系統(tǒng)的控制性能。首先,分析了一些常用的參數(shù)辨識(shí)算法,基于最小二乘法良好的收斂性與無(wú)偏性,將遞推最小二乘法應(yīng)用于轉(zhuǎn)動(dòng)慣量的辨識(shí)之中。但是由于遞推算法采樣次數(shù)過(guò)大時(shí),新數(shù)據(jù)會(huì)失去對(duì)之前的估計(jì)值修正的能力,因此本文采用對(duì)老數(shù)據(jù)加上遺忘因數(shù)的辦法,通過(guò)降低老數(shù)據(jù)的信息量,提高了新數(shù)據(jù)的影響力,從而獲得跟蹤參數(shù)變化的實(shí)時(shí)估計(jì)�；诖私o出了該算法在PMSM伺服系統(tǒng)轉(zhuǎn)動(dòng)慣量辨識(shí)的具體實(shí)現(xiàn)方法與形式。其次,由于電機(jī)轉(zhuǎn)速通常都是位置傳感器獲取的位置信號(hào)經(jīng)過(guò)簡(jiǎn)單差分計(jì)算得到的。針對(duì)因傳感器存在固有的相位滯后而影響電機(jī)速度計(jì)算結(jié)果的問(wèn)題,從提高電機(jī)轉(zhuǎn)速計(jì)算精度的角度引入了速度觀測(cè)器。觀測(cè)器可以降低傳感器固有的相位滯后,因此觀測(cè)到的速度信號(hào)相比傳感器獲得的更精確也更可靠,這對(duì)轉(zhuǎn)動(dòng)慣量辨識(shí)的準(zhǔn)確度也有一定的提高。最后,采用直軸電流為零的矢量控制策略,構(gòu)建了PMSM閉環(huán)控制系統(tǒng)方案。基于此方案在MATLAB/Simulink中設(shè)計(jì)了PMSM閉環(huán)控制下轉(zhuǎn)動(dòng)慣量辨識(shí)的仿真模型,基于以DSP為核心的VECTODRIVE VD600控制驅(qū)動(dòng)器、登奇永磁同步電動(dòng)機(jī)以及VECTONUM V8工控機(jī)的硬件平臺(tái)搭建了PMSM轉(zhuǎn)動(dòng)慣量辨識(shí)的實(shí)驗(yàn)平臺(tái),并完成了本平臺(tái)主要的軟件設(shè)計(jì)。本課題所做的仿真與實(shí)驗(yàn)都驗(yàn)證了基于速度觀測(cè)器與遞推最小二乘法相結(jié)合的慣量辨識(shí)算法的可行性與有效性,實(shí)驗(yàn)表明在速度變化的條件下無(wú)論是空載還是恒負(fù)載,轉(zhuǎn)動(dòng)慣量辨識(shí)的速度與精確度都取得了滿意的效果。
[Abstract]:With the wide application of PMSM AC servo system in more and more high performance motion control fields, how to improve the control accuracy and stability of the system. Static and dynamic performance is particularly important, but the moment of inertia of the motor and its load is one of the main factors affecting the controller control parameters in the system. If the moment of inertia of the PMSM servo system can be identified in time, then the controller parameters in the system can be adjusted according to its changes to compensate for its influence on the control of the system. The control performance of the system can be improved. Firstly, some commonly used parameter identification algorithms are analyzed, which are based on the good convergence and unbias of the least square method. The recursive least square method is applied to the identification of the moment of inertia. But when the sampling times of the recursive algorithm are too large, the new data will lose the ability to correct the previous estimates. So this paper adopts the method of adding the forgetting factor to the old data and improves the influence of the new data by reducing the amount of information of the old data. Thus the real-time estimation of tracking parameters is obtained. Based on this, the realization method and form of the algorithm in PMSM servo system moment of inertia identification are given. Secondly. Because the speed of motor is usually obtained by the position signal obtained by the position sensor through simple difference calculation, aiming at the problem that the sensor has inherent phase lag which affects the calculation result of the motor speed. In order to improve the accuracy of motor speed calculation, a speed observer is introduced, which can reduce the inherent phase lag of the sensor, so the observed speed signal is more accurate and reliable than that obtained by the sensor. It also improves the accuracy of the moment of inertia identification. Finally, the vector control strategy with zero direct axis current is adopted. The scheme of PMSM closed-loop control system is constructed. Based on this scheme, the simulation model of moment of inertia identification under PMSM closed-loop control is designed in MATLAB/Simulink. VECTODRIVE VD600 control driver based on DSP. The hardware platform of permanent magnet synchronous motor (PMSM) and VECTONUM V8 industrial control computer is used to set up the experimental platform of PMSM moment of inertia identification. The main software design of this platform has been completed. The simulation and experiment in this paper have verified the feasibility and effectiveness of inertia identification algorithm based on speed observer and recursive least square method. The experimental results show that the speed and accuracy of the moment of inertia identification are satisfactory both under the condition of velocity change and no load or constant load.
【學(xué)位授予單位】：華中科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：TM341

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