【摘要】：本文課題來(lái)源于國(guó)家自然基金及云南省應(yīng)用基礎(chǔ)研究計(jì)劃,旨在研究能夠抑制電機(jī)控制系統(tǒng)中存在的復(fù)雜干擾的控制算法,來(lái)提高電機(jī)系統(tǒng)的控制性能。本文設(shè)計(jì)了幾個(gè)具有抗干擾能力的控制器,并通過(guò)仿真來(lái)驗(yàn)證抗干擾算法的有效性,最后在實(shí)驗(yàn)平臺(tái)上實(shí)現(xiàn)了永磁同步電機(jī)的速度控制。首先,由于電機(jī)系統(tǒng)常常會(huì)受到各種干擾的影響,導(dǎo)致電機(jī)轉(zhuǎn)速產(chǎn)生波動(dòng),其中最直接的因素就是電機(jī)供電電流存在較大的諧波含量。而隨著清潔能源的發(fā)展,像光伏等新能源發(fā)電越來(lái)越普遍,但是這些發(fā)電系統(tǒng)產(chǎn)生的電能中存在大量諧波,這會(huì)影響供電質(zhì)量,而供電質(zhì)量常常又影響電機(jī)等用電設(shè)備。所以本文首先研究了一種由PI控制和重復(fù)控制組成的復(fù)合控制器來(lái)抑制發(fā)電系統(tǒng)逆變器輸出電流的諧波含量,同時(shí)為了提高控制系統(tǒng)的魯棒性,本文又分析了高階重復(fù)控制的魯棒性和穩(wěn)定性,并和一階重復(fù)控制對(duì)比得出一些有價(jià)值的結(jié)論。最后,通過(guò)仿真證明了重復(fù)控制在并網(wǎng)逆變器系統(tǒng)中的有效作用。其次,本文著重研究了永磁同步電機(jī)系統(tǒng)抗干擾控制技術(shù),鑒于永磁同步電機(jī)系統(tǒng)中含有復(fù)雜的干擾,包括內(nèi)部和外部擾動(dòng),例如摩擦,負(fù)載,扭矩和模型誤差等,本文提出了一種基于未知輸入觀測(cè)器的控制器,其中干擾觀測(cè)器可以補(bǔ)償?shù)暨@些干擾,減小電機(jī)輸出速度誤差,提高電機(jī)的控制精度。同時(shí)還與其他觀測(cè)器做了對(duì)比。通過(guò)仿真證明了提出的抗干擾控制器的跟蹤和抑制性能。然后,由于常規(guī)電機(jī)速度閉環(huán)控制使用機(jī)械速度傳感器,為了減小硬件成本及降低因傳感器引起的系統(tǒng)故障率,本文還研究了一種無(wú)速度傳感器控制技術(shù)。首先設(shè)計(jì)自適應(yīng)速度觀測(cè)器來(lái)估算轉(zhuǎn)子速度已形成速度閉環(huán)控制,接著針對(duì)系統(tǒng)中存在的復(fù)雜干擾,引入前面提出的基于未知輸入觀測(cè)器的抗干擾控制策略。最后通過(guò)仿真對(duì)比驗(yàn)證了該方法的有效性,提高了永磁同步電機(jī)無(wú)速度傳感器控制系統(tǒng)的精度。最后,研究了基于DSP2812控制器的永磁同步電機(jī)矢量控制調(diào)速系統(tǒng)的設(shè)計(jì)和實(shí)驗(yàn),從硬件和軟件兩方面介紹了永磁同步電動(dòng)機(jī)矢量控制系統(tǒng)。在實(shí)驗(yàn)過(guò)程中,通過(guò)上位機(jī)軟件CCS得到正確的相關(guān)變量圖形,如速度,電流等波形。且通過(guò)示波器查看永磁同步電機(jī)控制系統(tǒng)中的PWM等波形。
[Abstract]:This paper comes from the National Fund for Nature and the Yunnan Province Applied basic Research Program. The purpose of this paper is to study the control algorithm which can suppress the complex interference in the motor control system and improve the control performance of the motor system. In this paper, several anti-jamming controllers are designed, and the effectiveness of the anti-jamming algorithm is verified by simulation. Finally, the speed control of PMSM is realized on the experimental platform. First of all, the motor system is often affected by various kinds of interference, resulting in the motor speed fluctuations, the most direct factor is that the motor power supply current has a large harmonic content. With the development of clean energy, new energy generation, such as photovoltaic, is becoming more and more common. However, there are a lot of harmonics in the electricity generated by these power generation systems, which will affect the quality of power supply, and power supply quality often affects electrical equipment such as motor. So this paper first studies a compound controller composed of PI control and repetitive control to suppress the harmonic content of inverter output current in power system, and in order to improve the robustness of the control system, In this paper, the robustness and stability of high-order repetitive control are analyzed, and some valuable conclusions are obtained compared with first-order repetitive control. Finally, the effectiveness of repetitive control in grid-connected inverter system is proved by simulation. Secondly, the anti-interference control technology of permanent magnet synchronous motor (PMSM) system is studied. In view of the complex interference in PMSM system, including internal and external disturbances, such as friction, load, torque and model error, etc. In this paper, a controller based on unknown input observer is proposed, in which the disturbance observer can compensate these disturbances, reduce the output speed error of the motor and improve the control accuracy of the motor. At the same time, it is compared with other observers. The tracking and suppression performance of the proposed anti-jamming controller is proved by simulation. Then, in order to reduce the hardware cost and reduce the failure rate of the system caused by the sensor, a speed sensorless control technology is also studied because the conventional motor speed closed-loop control uses the mechanical speed sensor. Firstly, adaptive speed observer is designed to estimate rotor speed to form speed closed loop control. Then, an anti-interference control strategy based on unknown input observer is proposed for complex disturbance in the system. Finally, the effectiveness of the method is verified by simulation, and the precision of the speed sensorless control system of PMSM is improved. Finally, the design and experiment of vector control system of permanent magnet synchronous motor based on DSP2812 controller are studied. The vector control system of permanent magnet synchronous motor is introduced from two aspects of hardware and software. In the process of experiment, the correct graph of related variables, such as velocity, current and so on, is obtained by CCS. And through the oscilloscope to check the permanent magnet synchronous motor control system, such as PWM waveform.
【學(xué)位授予單位】：昆明理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP273

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