發(fā)布時(shí)間：2018-05-11 03:29

  本文選題：伺服系統(tǒng) + 永磁同步電機(jī)��； 參考：《湖南大學(xué)》2014年碩士論文

【摘要】：伺服系統(tǒng)是精確地對某個(gè)過程跟隨以及復(fù)現(xiàn)的運(yùn)動(dòng)控制系統(tǒng)。永磁同步電動(dòng)機(jī)擁有體積小、無需勵(lì)磁電流、定子電流和定子電阻損耗較小、過載能力較強(qiáng)等優(yōu)點(diǎn)，矢量控制策略具有電機(jī)轉(zhuǎn)矩控制簡單、電機(jī)動(dòng)態(tài)性能好等優(yōu)點(diǎn)。因此采用矢量控制的永磁同步電機(jī)伺服系統(tǒng)廣泛應(yīng)用于工業(yè)運(yùn)動(dòng)控制系統(tǒng)中。由于很多伺服系統(tǒng)需要在工作負(fù)載、轉(zhuǎn)動(dòng)慣量等不斷發(fā)生變化的工業(yè)場景中作業(yè)，所以PMSM伺服驅(qū)動(dòng)系統(tǒng)需要具有較強(qiáng)的抗擾動(dòng)性能以抑制負(fù)載變化等擾動(dòng)因素對控制系統(tǒng)帶來的不良影響。 本文首先分析PMSM在三相靜止坐標(biāo)系以及兩相旋轉(zhuǎn)坐標(biāo)系下的數(shù)學(xué)模型，對常用的PMSM矢量控制技術(shù)原理進(jìn)行研究。然后結(jié)合先進(jìn)的抗擾動(dòng)控制策略，分別從改變PID結(jié)構(gòu)和整定PID參數(shù)出發(fā)設(shè)計(jì)PMSM伺服系統(tǒng)抗擾動(dòng)控制器。 為抑制電機(jī)負(fù)載及轉(zhuǎn)動(dòng)慣量的變化對PMSM伺服系統(tǒng)性能帶來不良影響，本文結(jié)合改變PID結(jié)構(gòu)的自抗擾控制器、PMSM數(shù)學(xué)模型以及伺服系統(tǒng)控制結(jié)構(gòu)設(shè)計(jì)了基于自抗擾控制器的速度環(huán)、位置環(huán)控制器來實(shí)現(xiàn)PMSM伺服系統(tǒng)的準(zhǔn)確性、快速響應(yīng)以及魯棒性。 本文還利用“先辨識擾動(dòng)、再補(bǔ)償整定”的思想，基于降維觀測器原理設(shè)計(jì)了力矩觀測器對負(fù)載力矩先進(jìn)行估計(jì)然后補(bǔ)償，，基于梯度校正辨識方法設(shè)計(jì)了PMSM的慣量辨識策略并通過辨識值對PI控制器參數(shù)進(jìn)行整定，達(dá)到通過參數(shù)整定實(shí)現(xiàn)改進(jìn)PMSM伺服系統(tǒng)的抗擾動(dòng)性能。 最后，在以上工作基礎(chǔ)上，研制了一套基于TMS320LF2812的PMSM伺服控制系統(tǒng)，并對抗擾動(dòng)算法的有效性進(jìn)行了實(shí)驗(yàn)驗(yàn)證。
[Abstract]:A servo system is a motion control system that accurately follows and reappears a process. Permanent magnet synchronous motor (PMSM) has the advantages of small size, no excitation current, small loss of stator current and stator resistance, strong overload capacity and so on. Vector control strategy has the advantages of simple torque control and good dynamic performance of motor. Therefore, the permanent magnet synchronous motor servo system with vector control is widely used in industrial motion control system. Because many servo systems need to operate in changing industrial scenarios such as workloads, moment of inertia, etc., Therefore, the PMSM servo drive system needs to have strong anti-disturbance performance to suppress the adverse effects of disturbance factors such as load variation on the control system. In this paper, the mathematical models of PMSM in three-phase stationary coordinate system and two-phase rotating coordinate system are analyzed, and the principle of PMSM vector control technology is studied. Then combining with the advanced anti-disturbance control strategy, the anti-disturbance controller of PMSM servo system is designed by changing the PID structure and setting the PID parameters, respectively. In order to restrain the bad effect of motor load and moment of inertia on the performance of PMSM servo system, this paper designs a speed loop based on ADRC combined with the mathematical model of ADRC and the control structure of servo system. Position loop controller is used to realize the accuracy, fast response and robustness of PMSM servo system. Based on the principle of reduced-order observer, the torque observer is designed to estimate the load torque first and then compensate it. Based on the gradient correction identification method, the inertia identification strategy of PMSM is designed and the parameters of Pi controller are adjusted by the identification value. The anti-disturbance performance of PMSM servo system can be improved by parameter tuning. Finally, based on the above work, a PMSM servo control system based on TMS320LF2812 is developed, and the effectiveness of the anti-disturbance algorithm is verified experimentally.
【學(xué)位授予單位】：湖南大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TM341

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