發(fā)布時間：2018-09-12 17:40

【摘要】：永磁同步電機(permanent magnet synchronous motor,PMSM),因其結(jié)構(gòu)簡單、運行可靠度高和維護方便等諸多優(yōu)點,在伺服系統(tǒng)中成為使用最多的電機之一。本文基于信號與能量變換觀點,系統(tǒng)地建立PMSM驅(qū)動系統(tǒng)的協(xié)調(diào)控制原理。文中將PMSM驅(qū)動系統(tǒng)認為是信號與能量變換裝置,通過向系統(tǒng)輸入信號和能量來改變控制系統(tǒng)的狀態(tài),并給出了PMSM驅(qū)動系統(tǒng)的信號控制器、能量控制器以及協(xié)調(diào)控制策略的設(shè)計過程與設(shè)計方法。第一,首先介紹了本課題的研究目的和意義。然后,介紹了PMSM速度伺服系統(tǒng)以及基于信號與能量協(xié)調(diào)控制方法的國內(nèi)外研究動態(tài)。第二,初步研究了PMSM速度的滑模與端口受控哈密頓(port-controlled Hamiltonian,PCH)協(xié)調(diào)控制。分別求取滑�？刂破骱蚉CH控制器,采用協(xié)調(diào)控制策略將兩種方法聯(lián)系起來,仿真結(jié)果表明,采用該方案后,系統(tǒng)跟蹤信號的快速性良好,同時也具有較好的穩(wěn)態(tài)性能,初步證實了協(xié)調(diào)控制策略的可行性。第三,主要研究了PMSM速度的反步法與最大輸出功率協(xié)調(diào)控制。為提高PMSM速度控制系統(tǒng)的性能,利用反步法解決系統(tǒng)的快速響應(yīng)問題,應(yīng)用最大輸出功率原理使電機輸出最大功率,采用指數(shù)函數(shù)作為協(xié)調(diào)函數(shù)來實現(xiàn)協(xié)調(diào)控制策略,從而適應(yīng)PMSM的負載擾動。仿真結(jié)果表明,此方案有效地結(jié)合了反步法和最大輸出功率原理的端口受控哈密頓協(xié)調(diào)控制的優(yōu)點,使系統(tǒng)的動態(tài)性能和穩(wěn)態(tài)性能優(yōu)良,能夠在負載擾動時使誤差快速趨于零且輸出功率最大。第四,主要探究了考慮損耗的PMSM速度系統(tǒng)的協(xié)調(diào)控制。采用考慮損耗的PMSM數(shù)學(xué)模型分析設(shè)計反步法控制器和PCH控制器,采用協(xié)調(diào)控制策略改善各個控制方法在不同時間段的作用力度。結(jié)果表明,系統(tǒng)響應(yīng)快速且損耗最小。綜上,為改善系統(tǒng)的動態(tài)、穩(wěn)定性能,降低系統(tǒng)的損耗,本文采取基于信號與能量協(xié)調(diào)控制的方法設(shè)計系統(tǒng)控制器和協(xié)調(diào)控制策略實現(xiàn)對電機的速度控制。信號控制器實現(xiàn)PMSM驅(qū)動系統(tǒng)的速度信號快速跟蹤控制,使系統(tǒng)具有快速動態(tài)性能。能量控制器實現(xiàn)PMSM驅(qū)動系統(tǒng)的穩(wěn)態(tài)性能和能量優(yōu)化控制,根據(jù)電機負載大小,實時優(yōu)化控制系統(tǒng)的輸入輸出能量,并使系統(tǒng)的損耗能量最小。
[Abstract]:Permanent magnet synchronous motor (permanent magnet synchronous motor,PMSM) has become one of the most widely used motors in servo system because of its simple structure, high reliability and easy maintenance. Based on the viewpoint of signal and energy transformation, this paper systematically establishes the coordinated control principle of PMSM drive system. In this paper, the PMSM drive system is considered as a signal and energy conversion device. The state of the control system is changed by input of the signal and energy to the system. The signal controller of the PMSM drive system is given. Design process and method of energy controller and coordinated control strategy. Firstly, the purpose and significance of this research are introduced. Then, the PMSM speed servo system and the research trends based on signal and energy coordination control methods are introduced. Secondly, the sliding mode and port controlled Hamiltonian (port-controlled Hamiltonian,PCH) coordination control of PMSM speed are studied preliminarily. The sliding mode controller and the PCH controller are obtained, and the two methods are connected by the coordinated control strategy. The simulation results show that the tracking signal of the system is fast and has good steady-state performance. The feasibility of coordinated control strategy is preliminarily verified. Thirdly, the inverse step method of PMSM speed and the coordinated control of maximum output power are studied. In order to improve the performance of the PMSM speed control system, the rapid response problem of the system is solved by using the backstepping method. The principle of maximum output power is applied to make the motor output the maximum power, and the exponential function is used as the coordination function to realize the coordinated control strategy. In order to adapt to the load disturbance of PMSM. The simulation results show that this scheme effectively combines the advantages of the backstepping method and the principle of maximum output power of the port controlled Hamiltonian coordinated control, and makes the dynamic and steady performance of the system excellent. It can make the error fast to zero and the output power maximum when the load is disturbed. Fourthly, the coordinated control of PMSM speed system considering loss is discussed. The PMSM mathematical model considering loss is used to analyze and design the backstepping controller and the PCH controller. The coordinated control strategy is used to improve the action of each control method in different time periods. The results show that the response of the system is fast and the loss is minimum. In order to improve the dynamic and stable performance of the system and reduce the loss of the system, this paper adopts the method of signal and energy coordination control to design the system controller and coordinate control strategy to realize the speed control of the motor. The signal controller realizes the fast tracking control of the speed signal of the PMSM drive system, which makes the system have fast dynamic performance. The energy controller realizes the steady-state performance and energy optimization control of the PMSM drive system. According to the load size of the motor, the input and output energy of the system is optimized in real time, and the energy loss of the system is minimized.
【學(xué)位授予單位】：青島大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP273;TM341

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