本文關(guān)鍵詞：永磁同步電機(jī)伺服系統(tǒng)的滑模變結(jié)構(gòu)控制研究　出處：《蘭州交通大學(xué)》2014年碩士論文　論文類(lèi)型：學(xué)位論文

  更多相關(guān)文章： 永磁同步電機(jī) 伺服系統(tǒng) 滑模變結(jié)構(gòu)控制 矢量控制 魯棒性

【摘要】：伴隨著現(xiàn)代工業(yè)科技的迅猛發(fā)展，交流伺服系統(tǒng)的應(yīng)用日益廣泛，采用先進(jìn)控制策略的永磁同步電機(jī)伺服系統(tǒng)已經(jīng)成為高性能伺服系統(tǒng)發(fā)展的熱點(diǎn)方向。滑模變結(jié)構(gòu)控制具有結(jié)構(gòu)簡(jiǎn)單、對(duì)參數(shù)變化及外界擾動(dòng)不敏感等優(yōu)點(diǎn)。將滑模變結(jié)構(gòu)與永磁同步電機(jī)相結(jié)合，應(yīng)用滑模變結(jié)構(gòu)控制的優(yōu)良特性來(lái)提高伺服系統(tǒng)的性能，具有重要的實(shí)際價(jià)值和意義。 論文首先建立永磁同步電機(jī)伺服系統(tǒng)的數(shù)學(xué)模型，深入研究永磁同步電機(jī)矢量控制方法，并在此基礎(chǔ)上確定基于id=0轉(zhuǎn)子磁場(chǎng)定向的永磁同步電機(jī)矢量控制方案。其次采用SVPWM(Space Vector Pulse Width Modulation,電壓空間矢量)調(diào)制技術(shù)建立電流、轉(zhuǎn)速、位置的三閉環(huán)控制的永磁同步電機(jī)伺服系統(tǒng)。最后，結(jié)合先進(jìn)控制策略滑模變結(jié)構(gòu)控制理論，以永磁同步電機(jī)矢量控制系統(tǒng)為研究對(duì)象分別在速度環(huán)、位置環(huán)設(shè)計(jì)出改進(jìn)的滑模變結(jié)構(gòu)控制器，并與PI控制器在系統(tǒng)運(yùn)行的不同階段分別作用，對(duì)系統(tǒng)的性能進(jìn)行優(yōu)化。其中，速度環(huán)應(yīng)用滑模變結(jié)構(gòu)指數(shù)趨近率控制方法，并對(duì)指數(shù)趨近率進(jìn)行簡(jiǎn)化設(shè)計(jì)；位置環(huán)應(yīng)用滑模變結(jié)構(gòu)等效控制方法，并將其切換參數(shù)設(shè)計(jì)成與位置誤差、滑模面積分有非線性關(guān)系的變量，進(jìn)一步提高系統(tǒng)的動(dòng)靜態(tài)性能和魯棒性。 論文通過(guò)Matlab/Simulink及編程對(duì)系統(tǒng)進(jìn)行仿真建模，模擬了傳統(tǒng)PI控制、改進(jìn)型滑模變結(jié)構(gòu)控制永磁同步電機(jī)伺服系統(tǒng)的運(yùn)行過(guò)程。仿真結(jié)果驗(yàn)證了改進(jìn)的控制方法克服了傳統(tǒng)PI控制理論設(shè)計(jì)時(shí)系統(tǒng)對(duì)參數(shù)變化及負(fù)載擾動(dòng)敏感等問(wèn)題；并證明了改進(jìn)的滑模變結(jié)構(gòu)控制方法對(duì)滑模固有抖振有明顯的抑制作用，，且增強(qiáng)了永磁同步電機(jī)伺服系統(tǒng)的魯棒性和動(dòng)靜態(tài)性能。
[Abstract]:With the rapid development of modern industrial technology, the application of AC servo system is widely used, permanent magnet synchronous motor servo system of advanced control strategy has become a hot direction in the development of high performance servo system. The sliding mode variable structure control has the advantages of simple structure, the parameter variations and disturbance sensitive. The sliding mode variable combination the structure of permanent magnet synchronous motor with excellent characteristics, the application of sliding mode variable structure control to improve the performance of the servo system, has important value and significance.
Firstly, establish the mathematical model of permanent magnet synchronous motor servo system, in-depth study of permanent magnet synchronous motor vector control method, and determined on the basis of permanent magnet synchronous motor vector control scheme of id=0 based on rotor flux orientation. Secondly, using SVPWM (Space Vector Pulse Width Modulation, voltage space vector modulation technology) to establish the current, speed, position the three closed-loop control of permanent magnet synchronous motor servo system. Finally, combining with the advanced control strategy of sliding mode variable structure control theory, permanent magnet synchronous motor vector control system as the research object in the speed loop, position loop is designed to improve the sliding mode variable structure controller, and PI controller in different stages of system operation respectively, the performance of the system was optimized. The speed loop using the sliding mode reaching rate control method, and the simplified design index reaching rate The position loop is applied to the sliding mode variable structure equivalent control method, and the switching parameters are designed into variables with nonlinear relationship between the location error and the sliding mode area. Further, the dynamic and static performance and robustness of the system are further improved.
The simulation model of the system through the Matlab/Simulink programming and simulation, the traditional PI control, the operation process of the improved sliding mode variable structure control of permanent magnet synchronous motor servo system. The simulation results verify the improved control method to overcome the traditional PI control theory to system parameter variations and load disturbances and other sensitive issues of design; and it is proved that the improved the sliding mode variable structure control method has obvious inhibitory effect on the inherent chattering of sliding mode, and enhances the PMSM servo system robustness and dynamic performance.

【學(xué)位授予單位】：蘭州交通大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類(lèi)號(hào)】：TM341

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