本文關(guān)鍵詞：基于自適應(yīng)觀測器的永磁直線同步電機(jī)滑模變結(jié)構(gòu)控制研究　出處：《蘭州理工大學(xué)》2014年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 永磁直線同步電機(jī) 滑模變結(jié)構(gòu)控制 自適應(yīng)觀測器 直接推力控制

【摘要】：永磁直線同步電機(jī)在直線驅(qū)動(dòng)中具有諸多優(yōu)勢,在高精度的直線驅(qū)動(dòng)設(shè)備中應(yīng)用廣泛。直線電機(jī)自身的特殊結(jié)構(gòu)會(huì)引起邊端效應(yīng),永磁直線同步電機(jī)中存在較為復(fù)雜的推力擾動(dòng),傳統(tǒng)電機(jī)控制方法很難達(dá)到預(yù)期效果。 本文從直線電機(jī)與旋轉(zhuǎn)電機(jī)的內(nèi)在聯(lián)系出發(fā),系統(tǒng)地分析了永磁直線同步電機(jī)在旋轉(zhuǎn)坐標(biāo)系中的數(shù)學(xué)模型,獲得磁路不對(duì)稱引起的電磁推力擾動(dòng)特性�；诖嗽赟imulink平臺(tái)建立了較為準(zhǔn)確的永磁直線同步電機(jī)模型并進(jìn)行了仿真驗(yàn)證,為后續(xù)研究提供一個(gè)可靠且準(zhǔn)確的對(duì)象。永磁直線同步電機(jī)矢量控制中仍存在電磁推力波動(dòng),針對(duì)這一問題,本文采用直接推力控制,并設(shè)計(jì)了速度滑模變結(jié)構(gòu)控制器,同時(shí)引入負(fù)載擾動(dòng)前饋對(duì)滑�？刂频亩墩襁M(jìn)行抑制。建立了永磁直線同步電機(jī)滑模變結(jié)構(gòu)直接推力控制仿真系統(tǒng),對(duì)速度PI調(diào)節(jié)器與滑模變結(jié)構(gòu)控制器仿真結(jié)果進(jìn)行了比較,滑模變結(jié)構(gòu)控制器能更好地抑制永磁直線同步電機(jī)的擾動(dòng)。 永磁直線同步電機(jī)的數(shù)學(xué)模型比較復(fù)雜,傳統(tǒng)的觀測器模型不再適用。同時(shí)直接推力控制對(duì)觀測器觀測結(jié)果的準(zhǔn)確性要求比較高,尤其在低速段,以線性模型為基礎(chǔ)的觀測器不再適用于非線性度較高的永磁直線同步電機(jī)。本文用推力磁鏈等效電機(jī)理想模型中的直軸磁鏈,簡化了永磁直線同步電機(jī)數(shù)學(xué)模型。在簡化的數(shù)學(xué)模型基礎(chǔ)上,設(shè)計(jì)了推力磁鏈自適應(yīng)觀測器,從而解決了交直軸電感不相等引起的初級(jí)磁鏈和電磁推力觀測誤差。同時(shí),在自適應(yīng)觀測器中引入初級(jí)電阻自適應(yīng)律,減小了低速段由電機(jī)參數(shù)變化引起的初級(jí)磁鏈觀測誤差。建立了推力磁鏈自適應(yīng)觀測器仿真系統(tǒng),對(duì)初級(jí)磁鏈和電磁推力的觀測效果進(jìn)行了仿真,驗(yàn)證了推力磁鏈自適應(yīng)觀測器的有效性。 最后,設(shè)計(jì)了基于自適應(yīng)觀測器的永磁直線同步電機(jī)滑模變結(jié)構(gòu)控制系統(tǒng),結(jié)合預(yù)測電壓控制建立了系統(tǒng)仿真模型。對(duì)整個(gè)控制系統(tǒng)的穩(wěn)態(tài)和動(dòng)態(tài)性能進(jìn)行了仿真分析,同時(shí)分析了其低速性能和魯棒性。
[Abstract]:Permanent magnet linear synchronous motor has many advantages in linear drive, in line with high precision drive widely used equipment. The special structure of the linear motor itself will cause the edge effect, complex thrust disturbance of permanent magnet linear synchronous motor, the traditional motor control method is difficult to achieve the desired effect.
This article from the internal relation of linear motor and rotary motor starting, systematic analysis of the permanent magnet linear synchronous motor in rotating coordinate system mathematical model, the electromagnetic force caused by the asymmetry of the obtained magnetic disturbance characteristics. The synchronous motor is established on the Simulink platform more accurate permanent magnet direct line model and Simulation Based Verification, provide a reliable and accurate object for subsequent research. The permanent magnet linear synchronous motor vector control still exist in the electromagnetic force fluctuation, aiming at this problem, this paper adopts direct thrust control, and design speed of sliding mode variable structure controller, while the introduction of load disturbance feedforward to suppress the chattering of the sliding mode control. The direct thrust the structure of the simulation control system of permanent magnet linear synchronous motor based on sliding mode, the PI speed controller and sliding mode variable structure controller simulation results were compared with the sliding mode variable structure control The system can better suppress the disturbance of permanent magnet linear synchronous motor.
Mathematical model of permanent magnet linear synchronous motor is more complex, the traditional observer model is no longer applicable. At the same time, the direct thrust control accuracy of the observation results of the observer requirements are relatively high, especially in the low speed, permanent magnet linear synchronous motor on the basis of the linear model is no longer applicable to the observer with high nonlinearity. With straight shaft thrust equivalent flux flux in this paper the ideal motor model, the simplified mathematical model of permanent magnet linear synchronous motor. The mathematical model based on simplified design, thrust flux adaptive observer, thus solving the d-axis and q-axis inductance is not equal caused by primary flux and electromagnetic thrust observation error. At the same time, the introduction of primary resistance adaptive law in adaptive observer, reduce the low speed caused by the change of motor parameters of the primary flux observation error. The thrust flux adaptive observer simulation system for primary The observation effect of the magnetic chain and the electromagnetic thrust is simulated, and the validity of the thrust magnetic chain adaptive observer is verified.
Finally, the design of the adaptive observer for permanent magnet linear synchronous motor based on sliding mode variable structure control system, combined with the predictive voltage control system simulation model was established. The steady and dynamic performance of the whole control system is simulated and analyzed, and analyses the low-speed performance and robustness.

【學(xué)位授予單位】：蘭州理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TM341

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