無軸承異步電機(jī)及其滑模變結(jié)構(gòu)控制系統(tǒng)研究
發(fā)布時間：2018-07-30 08:13
【摘要】：無軸承異步電機(jī)(Bearingless Induction Motors,BIM)集電機(jī)旋轉(zhuǎn)與懸浮功能為一體,具有無摩擦、無需潤滑、壽命長、能實現(xiàn)高速、高精運(yùn)行等優(yōu)于普通電機(jī)的特性,在渦輪分子泵、飛輪電池、航空航天、潛水艇、無菌車間、真空技術(shù)、生命科學(xué)等領(lǐng)域展現(xiàn)出了極其重要應(yīng)用價值。本文在國家自然科學(xué)基金項目(51475214)和江蘇省自然科學(xué)基金項目(BK20141301)的資助下,對BIM數(shù)學(xué)模型、氣隙磁場定向控制、基于新型趨近律的滑模變結(jié)構(gòu)控制、基于負(fù)載轉(zhuǎn)矩觀測器的滑模變結(jié)構(gòu)控制、數(shù)字控制系統(tǒng)展開研究,主要研究內(nèi)容如下:1.概述無軸承電機(jī)的研究背景、國內(nèi)外研究狀況和BIM的研究狀況、發(fā)展趨勢。分析了BIM的運(yùn)行機(jī)理,建立其旋轉(zhuǎn)數(shù)學(xué)模型和徑向力數(shù)學(xué)模型。針對電磁轉(zhuǎn)矩與徑向力的耦合問題,構(gòu)造了基于氣隙磁場定向控制的BIM解耦控制系統(tǒng)。2.針對BIM控制系統(tǒng)在擾動下(參數(shù)變化、負(fù)載突變等)性能不佳的問題,提出一種基于自變速指數(shù)趨近律的BIM滑�？刂品椒�。首先,為抑制滑模算法中的固有抖振,在傳統(tǒng)指數(shù)趨近律中引入一階范數(shù),并對符號函數(shù)進(jìn)行平滑處理,設(shè)計了一種自變速指數(shù)趨近律。然后,通過該趨近律設(shè)計了BIM轉(zhuǎn)速環(huán)的滑�？刂破�,構(gòu)建了BIM滑模調(diào)速控制系統(tǒng)。仿真結(jié)果表明該方法可實現(xiàn)對給定轉(zhuǎn)速的精確追蹤,改善了BIM的調(diào)速品質(zhì)。3.為進(jìn)一步改善BIM控制系統(tǒng)在擾動工況下的控制性能,在已構(gòu)建的滑模調(diào)速控制系統(tǒng)的基礎(chǔ)上,設(shè)計了負(fù)載轉(zhuǎn)矩滑模觀測器對轉(zhuǎn)矩進(jìn)行觀測,并將輸出作為系統(tǒng)的擾動補(bǔ)償,提供擾動變化所需的電流。同時,利用積分辨識算法實現(xiàn)了對轉(zhuǎn)動慣量的在線識別及對觀測器的實時更新。仿真結(jié)果表明,該控制策略對系統(tǒng)不確定擾動具有較強(qiáng)魯棒性,提高了BIM控制系統(tǒng)的動、靜態(tài)性能。4.以D SP TMS320F2812為核心搭建了滑模數(shù)字控制系統(tǒng)實驗平臺,并進(jìn)行了電機(jī)旋轉(zhuǎn)、轉(zhuǎn)子懸浮及抗擾動能力實驗研究。由實驗結(jié)果可知,所提新型滑�？刂撇呗圆粌H提高了BIM調(diào)速系統(tǒng)的抗擾動能力和運(yùn)行品質(zhì),而且有效地削弱了滑模系統(tǒng)的固有抖振。
[Abstract]:The bearingless asynchronous motor (Bearingless Induction motors has the features of motor rotation and suspension, no friction, no lubrication, long life, high speed, high precision operation, etc., in turbo molecular pump, flywheel battery, aerospace, etc. Submarine, aseptic workshop, vacuum technology, life science and other fields have shown extremely important application value. In this paper, with the support of the National Natural Science Foundation of China (51475214) and the Natural Science Foundation of Jiangsu Province (BK20141301), the BIM mathematical model, the air-gap magnetic field oriented control, and the sliding mode variable structure control based on the new approach law are studied. Sliding mode variable structure control based on load torque observer and digital control system are studied. The main contents are as follows: 1. This paper summarizes the research background of bearingless motor, the research status at home and abroad and the research status and development trend of BIM. The operation mechanism of BIM is analyzed, and its rotating mathematical model and radial force mathematical model are established. Aiming at the coupling between electromagnetic torque and radial force, a BIM decoupling control system based on air-gap field-oriented control is constructed. In order to solve the problem of poor performance of BIM control system under disturbance (parameter variation, load mutation, etc.), a BIM sliding mode control method based on self-variable exponential approach law is proposed. Firstly, in order to suppress the inherent chattering in sliding mode algorithm, the first order norm is introduced into the traditional exponential approach law, and the symbol function is smoothed, and a self-variable exponential approach law is designed. Then, the sliding mode controller of BIM speed loop is designed by the approach law, and the BIM sliding mode control system is constructed. The simulation results show that this method can accurately track the given speed and improve the speed regulation quality of BIM. In order to further improve the control performance of BIM control system under disturbed conditions, a load torque sliding mode observer is designed to observe the torque on the basis of the established sliding mode speed control system, and the output is taken as the disturbance compensation of the system. Provide the current required for the disturbance change. At the same time, the on-line recognition of moment of inertia and the real-time updating of the observer are realized by the integral identification algorithm. The simulation results show that the proposed control strategy is robust to the uncertain disturbances of the system and improves the dynamic and static performance of the BIM control system. The experimental platform of sliding mode digital control system is built with D SP TMS320F2812 as the core, and the experimental research on motor rotation, rotor suspension and anti-disturbance ability is carried out. The experimental results show that the proposed new sliding mode control strategy not only improves the anti-disturbance ability and running quality of the BIM speed control system, but also effectively weakens the inherent chattering of the sliding mode system.
【學(xué)位授予單位】：江蘇大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TM343;TP273
[Abstract]:The bearingless asynchronous motor (Bearingless Induction motors has the features of motor rotation and suspension, no friction, no lubrication, long life, high speed, high precision operation, etc., in turbo molecular pump, flywheel battery, aerospace, etc. Submarine, aseptic workshop, vacuum technology, life science and other fields have shown extremely important application value. In this paper, with the support of the National Natural Science Foundation of China (51475214) and the Natural Science Foundation of Jiangsu Province (BK20141301), the BIM mathematical model, the air-gap magnetic field oriented control, and the sliding mode variable structure control based on the new approach law are studied. Sliding mode variable structure control based on load torque observer and digital control system are studied. The main contents are as follows: 1. This paper summarizes the research background of bearingless motor, the research status at home and abroad and the research status and development trend of BIM. The operation mechanism of BIM is analyzed, and its rotating mathematical model and radial force mathematical model are established. Aiming at the coupling between electromagnetic torque and radial force, a BIM decoupling control system based on air-gap field-oriented control is constructed. In order to solve the problem of poor performance of BIM control system under disturbance (parameter variation, load mutation, etc.), a BIM sliding mode control method based on self-variable exponential approach law is proposed. Firstly, in order to suppress the inherent chattering in sliding mode algorithm, the first order norm is introduced into the traditional exponential approach law, and the symbol function is smoothed, and a self-variable exponential approach law is designed. Then, the sliding mode controller of BIM speed loop is designed by the approach law, and the BIM sliding mode control system is constructed. The simulation results show that this method can accurately track the given speed and improve the speed regulation quality of BIM. In order to further improve the control performance of BIM control system under disturbed conditions, a load torque sliding mode observer is designed to observe the torque on the basis of the established sliding mode speed control system, and the output is taken as the disturbance compensation of the system. Provide the current required for the disturbance change. At the same time, the on-line recognition of moment of inertia and the real-time updating of the observer are realized by the integral identification algorithm. The simulation results show that the proposed control strategy is robust to the uncertain disturbances of the system and improves the dynamic and static performance of the BIM control system. The experimental platform of sliding mode digital control system is built with D SP TMS320F2812 as the core, and the experimental research on motor rotation, rotor suspension and anti-disturbance ability is carried out. The experimental results show that the proposed new sliding mode control strategy not only improves the anti-disturbance ability and running quality of the BIM speed control system, but also effectively weakens the inherent chattering of the sliding mode system.
【學(xué)位授予單位】：江蘇大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TM343;TP273
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