永磁同步電機(jī)伺服系統(tǒng)的自抗擾控制技術(shù)研究
發(fā)布時(shí)間：2019-01-14 09:18
【摘要】：目前,在中小功率高精度伺服驅(qū)動領(lǐng)域,永磁同步電機(jī)(Permanent Magnet Synchronous Motor,PMSM)因其結(jié)構(gòu)簡單、功率密度大、效率高、運(yùn)行平穩(wěn)等優(yōu)點(diǎn),已經(jīng)成為主流之選。但是在實(shí)際應(yīng)用中,尤其在直接驅(qū)動或環(huán)境惡劣的應(yīng)用場合,許多不確定的內(nèi)外擾動將會惡化系統(tǒng)性能。因此,隨著人們對交流伺服系統(tǒng)的要求越來越高,能夠快速有效地抑制各種未知擾動就顯得尤為關(guān)鍵。本文基于一臺表貼式永磁同步電機(jī),針對自抗擾控制(Active Disturbance Rejection Control,ADRC)技術(shù)在PMSM伺服系統(tǒng)中的應(yīng)用及實(shí)現(xiàn)進(jìn)行了相關(guān)研究。自抗擾控制器是為了克服經(jīng)典PID控制器的固有缺陷,綜合PID和現(xiàn)代控制理論的優(yōu)點(diǎn)而提出的一種新型的非線性控制器,由跟蹤微分器(Tracking Differentiator,TD)、非線性反饋律(Nonlinear State Error Feedback,NLSEF)和擴(kuò)張狀態(tài)觀測器(Extended State Observer,ESO)三部分構(gòu)成。它從反饋控制和擾動估計(jì)補(bǔ)償兩個(gè)角度分別進(jìn)行改進(jìn),從根本上提高了系統(tǒng)的抗擾動能力與動靜態(tài)性能,并且具有很強(qiáng)的魯棒性與通用性。本文首先研究自抗擾控制技術(shù)在PMSM伺服系統(tǒng)轉(zhuǎn)速環(huán)中的應(yīng)用,設(shè)計(jì)了轉(zhuǎn)速環(huán)一階自抗擾控制器。通過理論、仿真和實(shí)驗(yàn),分析驗(yàn)證了采用非光滑反饋(Non-smooth Feedback,NSF)結(jié)合ESO前饋補(bǔ)償?shù)淖钥箶_控制技術(shù)后,系統(tǒng)具有更好的轉(zhuǎn)速跟蹤性能和抗擾性能。針對自抗擾控制器中由于估計(jì)慣量存在誤差從而惡化系統(tǒng)性能這一問題,改進(jìn)了基于擾動觀測器(Disturbance Observer,DOB)的慣量辨識算法,通過慣量辨識及補(bǔ)償技術(shù)使得自抗擾控制器在轉(zhuǎn)動慣量未知或變化的應(yīng)用場合中能夠獲得更好的控制效果。其次,設(shè)計(jì)了位置環(huán)一階自抗擾控制器,從而采用位置環(huán)和轉(zhuǎn)速環(huán)兩個(gè)自抗擾控制器級聯(lián)的形式,構(gòu)建了完整的PMSM位置伺服系統(tǒng)。位置環(huán)同樣采用NSF+ESO的自抗擾控制,系統(tǒng)可以獲得更好的位置跟蹤性能和抗擾性能。與傳統(tǒng)控制方式相比,采用自抗擾控制后系統(tǒng)獲得了更快的響應(yīng)速度,更高的控制精度和更強(qiáng)的抗擾性能。
[Abstract]:At present, PMSM (permanent Magnet synchronous Motor (Permanent Magnet Synchronous Motor,PMSM) has become the mainstream choice for its simple structure, high power density, high efficiency and smooth operation in the field of medium and small power high-precision servo drive. However, in practical applications, especially in direct driving or harsh environments, many uncertain internal and external disturbances will deteriorate the performance of the system. Therefore, with the increasing demand for AC servo system, it is very important to suppress all kinds of unknown disturbances quickly and effectively. Based on a permanent magnet synchronous motor (PMSM), the application and implementation of ADRC (Active Disturbance Rejection Control,ADRC in PMSM servo system are studied in this paper. In order to overcome the inherent defects of the classical PID controller, the ADRC is a new nonlinear controller based on the advantages of PID and modern control theory, which is composed of a tracking differentiator (Tracking Differentiator,TD) and a nonlinear feedback law (Nonlinear State Error Feedback,). NLSEF) and extended state observer (Extended State Observer,ESO). It improves the anti-disturbance ability and the dynamic and static performance of the system from the aspects of feedback control and disturbance estimation compensation respectively. It also has strong robustness and generality. In this paper, the application of ADRC technology in the rotational speed loop of PMSM servo system is studied, and the first order ADRC controller is designed. Through theory, simulation and experiment, it is proved that the system has better speed tracking performance and disturbance rejection performance after adopting non-smooth feedback (Non-smooth Feedback,NSF) combined with ESO feedforward compensation. The inertia identification algorithm based on disturbance observer (Disturbance Observer,DOB) is improved to solve the problem of deterioration of system performance due to the error of estimating inertia in ADRC. By means of inertia identification and compensation technology, the ADRC can obtain better control effect in applications where the moment of inertia is unknown or changing. Secondly, the first order active disturbance rejection controller of position loop is designed, and the complete PMSM position servo system is constructed by adopting the cascade form of position loop and rotational speed loop. The position loop also adopts the NSF ESO active disturbance rejection control, so the system can obtain better position tracking performance and disturbance rejection performance. Compared with the traditional control method, the system has faster response speed, higher control precision and stronger immunity performance after using ADRC.
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TM341
本文編號：2408555
[Abstract]:At present, PMSM (permanent Magnet synchronous Motor (Permanent Magnet Synchronous Motor,PMSM) has become the mainstream choice for its simple structure, high power density, high efficiency and smooth operation in the field of medium and small power high-precision servo drive. However, in practical applications, especially in direct driving or harsh environments, many uncertain internal and external disturbances will deteriorate the performance of the system. Therefore, with the increasing demand for AC servo system, it is very important to suppress all kinds of unknown disturbances quickly and effectively. Based on a permanent magnet synchronous motor (PMSM), the application and implementation of ADRC (Active Disturbance Rejection Control,ADRC in PMSM servo system are studied in this paper. In order to overcome the inherent defects of the classical PID controller, the ADRC is a new nonlinear controller based on the advantages of PID and modern control theory, which is composed of a tracking differentiator (Tracking Differentiator,TD) and a nonlinear feedback law (Nonlinear State Error Feedback,). NLSEF) and extended state observer (Extended State Observer,ESO). It improves the anti-disturbance ability and the dynamic and static performance of the system from the aspects of feedback control and disturbance estimation compensation respectively. It also has strong robustness and generality. In this paper, the application of ADRC technology in the rotational speed loop of PMSM servo system is studied, and the first order ADRC controller is designed. Through theory, simulation and experiment, it is proved that the system has better speed tracking performance and disturbance rejection performance after adopting non-smooth feedback (Non-smooth Feedback,NSF) combined with ESO feedforward compensation. The inertia identification algorithm based on disturbance observer (Disturbance Observer,DOB) is improved to solve the problem of deterioration of system performance due to the error of estimating inertia in ADRC. By means of inertia identification and compensation technology, the ADRC can obtain better control effect in applications where the moment of inertia is unknown or changing. Secondly, the first order active disturbance rejection controller of position loop is designed, and the complete PMSM position servo system is constructed by adopting the cascade form of position loop and rotational speed loop. The position loop also adopts the NSF ESO active disturbance rejection control, so the system can obtain better position tracking performance and disturbance rejection performance. Compared with the traditional control method, the system has faster response speed, higher control precision and stronger immunity performance after using ADRC.
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TM341
【參考文獻(xiàn)】
相關(guān)期刊論文 前1條
1 蘇玉鑫,段寶巖,張永芳,南仁東,彭勃;大射電望遠(yuǎn)鏡饋源指向系統(tǒng)軌跡跟蹤自抗擾控制[J];控制理論與應(yīng)用;2004年06期
，本文編號：2408555
本文鏈接：http://sikaile.net/kejilunwen/dianlilw/2408555.html
最近更新
教材專著
