本文選題：永磁同步電動(dòng)機(jī)　切入點(diǎn)：按轉(zhuǎn)子磁鏈定向的矢量控制　出處：《中國科學(xué)院研究生院（光電技術(shù)研究所）》2014年博士論文　論文類型：學(xué)位論文

【摘要】：隨著電力電子技術(shù)、微型計(jì)算機(jī)技術(shù)、稀土永磁材料學(xué)科、自動(dòng)控制理論、智能控制理論等理論和技術(shù)的快速發(fā)展，高效能、高功率密度的永磁同步電動(dòng)機(jī)正廣泛應(yīng)用于工業(yè)、航空航天、國防軍事等領(lǐng)域的運(yùn)動(dòng)控制系統(tǒng)中，以永磁同步電動(dòng)機(jī)為執(zhí)行機(jī)構(gòu)的全數(shù)字永磁同步伺服系統(tǒng)正在逐步取代直流電動(dòng)機(jī)、步進(jìn)電動(dòng)機(jī)運(yùn)動(dòng)系統(tǒng)而成為伺服驅(qū)動(dòng)系統(tǒng)的發(fā)展方向。然而，由于永磁同步伺服系統(tǒng)受電機(jī)多變量耦合性和參數(shù)變化、外部負(fù)載擾動(dòng)、惡劣環(huán)境等因素的影響，要獲得高性能、寬調(diào)速范圍的永磁同步伺服系統(tǒng)，必須對永磁同步電動(dòng)機(jī)的模型進(jìn)行深入的分析，研究先進(jìn)的控制策略與控制手段，使系統(tǒng)具有較強(qiáng)的環(huán)境適應(yīng)性和抗擾動(dòng)能力。本論文的主要工作就是圍繞高性能的全數(shù)字永磁同步伺服系統(tǒng)控制策略的研究而展開的，論文的主要內(nèi)容如下： 對正弦波永磁同步電動(dòng)機(jī)的電磁過程、矩角特性進(jìn)行了分析，建立了三種坐標(biāo)系下的定子磁鏈方程、電壓方程和電磁轉(zhuǎn)矩方程，為控制策略的分析提供了理論鋪墊。目前，正弦波永磁同步電動(dòng)機(jī)伺服控制系統(tǒng)主流的控制策略有按轉(zhuǎn)子磁鏈定向的矢量控制策略和按定子磁鏈定向直接轉(zhuǎn)矩控制策略。 系統(tǒng)地分析了永磁同步電動(dòng)機(jī)按轉(zhuǎn)子磁鏈定向的矢量控制策略的基本原理和實(shí)現(xiàn)方法，搭建了id=0的矢量控制策略的仿真模型，并對電流環(huán)和轉(zhuǎn)速環(huán)的PI調(diào)節(jié)器參數(shù)進(jìn)行了整定，特別解析了電流環(huán)帶寬和調(diào)節(jié)器參數(shù)的關(guān)系。分析了初始零位偏差對轉(zhuǎn)速環(huán)性能影響，，利用勞斯判據(jù)對存在初始零位偏差的轉(zhuǎn)速環(huán)的穩(wěn)定性進(jìn)行了判定，仿真和實(shí)驗(yàn)結(jié)果表明，隨著初始零位偏差的增大，轉(zhuǎn)速環(huán)的響應(yīng)性能和抗擾性能將會(huì)變差。在總結(jié)常用的限幅策略的基礎(chǔ)上提出了一種新的限幅方法，理論分析了證明了該方法的有效性和優(yōu)良性。 對按定子磁鏈定向的直接轉(zhuǎn)矩控制策略進(jìn)行了原理性的分析，在常規(guī)的直接轉(zhuǎn)矩控制方案的基礎(chǔ)上對定子磁鏈幅值的給定機(jī)制進(jìn)行了改良，仿真表明，這種新的定子磁鏈幅值給定機(jī)制使得電磁轉(zhuǎn)矩的階躍響應(yīng)性能達(dá)到最優(yōu)。 分析比較了按轉(zhuǎn)子磁鏈定向的矢量控制和按定子磁鏈定向的直接轉(zhuǎn)矩控制兩種方案的控制結(jié)構(gòu)上的異同點(diǎn)和電磁轉(zhuǎn)矩環(huán)的階躍響應(yīng)性能，融合二者的優(yōu)點(diǎn)，研究了按定子磁鏈定向的電壓空間矢量脈寬調(diào)制技術(shù)的控制算法，仿真和實(shí)驗(yàn)驗(yàn)證了該方法的有效性和階躍響應(yīng)的優(yōu)越性。 最后搭建了全數(shù)字永磁同步電動(dòng)機(jī)伺服控制系統(tǒng)的硬件平臺(tái)并在硬件平臺(tái)上實(shí)現(xiàn)了矢量控制算法、直接轉(zhuǎn)矩控制算法及融合算法。實(shí)驗(yàn)結(jié)果也在一定程度上驗(yàn)證了三種控制算法的優(yōu)缺點(diǎn)。 設(shè)計(jì)了21位雙通道旋轉(zhuǎn)變壓器解碼作為全數(shù)字永磁同步電動(dòng)機(jī)的伺服控制系統(tǒng)的反饋通道。實(shí)驗(yàn)中搭建測試平臺(tái)，用自準(zhǔn)直儀和多面棱鏡對該測角系統(tǒng)精度進(jìn)行測量。結(jié)果表明，測角誤差均方根值達(dá)到20角秒，經(jīng)系統(tǒng)誤差修正后整個(gè)系統(tǒng)測角誤差均方根值達(dá)到9.46角秒。最后本文對測角系統(tǒng)的系統(tǒng)誤差產(chǎn)生原因進(jìn)行了分析。
[Abstract]:With the development of power electronic technology, computer technology, rare earth permanent magnet materials science, automatic control theory, the rapid development of intelligent control theory and technology of high efficiency, high power density permanent magnet synchronous motor is widely used in industrial, aerospace, defense, military and other fields of the motion control system, permanent magnet synchronous motor actuator digital PMSM servo system is gradually replacing DC motor, stepper motor system and become the development direction of servo drive system. However, due to the change of permanent magnet synchronous servo system and multi variable coupling parameters by motor, external load disturbance, bad environment and other factors, to get high performance permanent magnet synchronous servo system wide speed range, must have a thorough analysis of permanent magnet synchronous motor model, control strategy and control of advanced research The main work of this paper is to focus on the research of the control strategy of high performance all digital permanent magnet synchronous servo system. The main contents of this paper are as follows:
The electromagnetic process of permanent magnet synchronous motor, the torque angle characteristic is analyzed, establishing the stator flux equations of the three kind of coordinates, voltage equation and torque equation, and provides a theoretical groundwork for the analysis of control strategy. At present, the control strategy of permanent magnet synchronous motor servo control system according to the mainstream vector rotor flux oriented control strategy and control strategy based on stator flux oriented direct torque.
Systematic analysis of the basic principle and method of permanent magnet synchronous motor vector control method based on rotor flux orientation, we build a simulation model of id=0 vector control strategy, and the current loop and speed loop PI regulator parameters tuning, especially analysis of the current loop bandwidth and regulator parameters. Analysis of zero bias initial ring performance impact on the speed and the initial zero deviation of speed loop stability is determined by the Routh criterion, the simulation and experimental results show that with the increase of the initial zero bias, response speed loop and anti disturbance performance will worsen. On the basis of limiting the commonly used strategies the forward a new clipping method, theoretical analysis proved that this method is effective and superiority.
The control strategy of the stator flux oriented direct torque is analyzed based on the principle of the conventional direct torque control scheme is given on the mechanism of the stator flux amplitude is improved, simulation results show that this new amplitude of stator flux linkage mechanism makes the electromagnetic torque step response to achieve optimal performance.
According to the analysis and comparison of the control structure of vector control of rotor flux and the stator flux oriented direct torque control scheme for the two kinds of similarities and differences between the ring and the electromagnetic torque step response performance, the advantages of the integration of the two, based on the stator flux oriented control algorithm of voltage space vector pulse width modulation technology, and simulation experiments verify the effectiveness of the method and the step response.
Finally, the hardware platform of all digital permanent magnet synchronous motor servo control system is built, and vector control algorithm, direct torque control algorithm and fusion algorithm are implemented on the hardware platform. The experimental results also verify the advantages and disadvantages of the three control algorithms to a certain extent.
The design of 21 - channel rotary transformer as the decoding feedback channel full digital PMSM servo control system. The test platform experiment, using autocollimator and prism on accuracy of the angle measuring system. The results show that the angular error RMS value reached 20 seconds, the system error of the whole system error RMS value reached 9.46 arcsec. Finally this paper cause system error on measuring system are analyzed.

【學(xué)位授予單位】：中國科學(xué)院研究生院（光電技術(shù)研究所）
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2014
【分類號(hào)】：TM341

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