【摘要】：永磁同步電機(jī)具有動(dòng)態(tài)響應(yīng)快、穩(wěn)態(tài)精度高、調(diào)速范圍寬等優(yōu)點(diǎn),在高精度伺服控制領(lǐng)域得到了廣泛的應(yīng)用。伺服系統(tǒng)電流內(nèi)環(huán)的控制效果對(duì)電機(jī)的動(dòng)穩(wěn)態(tài)性能影響較大,傳統(tǒng)的電流環(huán)控制策略難以滿足人們對(duì)電機(jī)控制性能的要求。因此,新的控制策略如預(yù)測(cè)控制等被用于電機(jī)電流環(huán)的控制中。本文首先對(duì)表貼式永磁同步電機(jī)的數(shù)學(xué)模型進(jìn)行簡(jiǎn)化,推導(dǎo)出其在三相靜止坐標(biāo)系下的數(shù)學(xué)模型,基于磁勢(shì)守恒原則推導(dǎo)其CLARK和PARK變換矩陣,從而得到三相永磁同步電機(jī)在d、q軸下的數(shù)學(xué)模型,實(shí)現(xiàn)電機(jī)勵(lì)磁分量和轉(zhuǎn)矩分量的解耦。通過一階泰勒公式對(duì)其數(shù)學(xué)模型離散化,得到電機(jī)的預(yù)測(cè)控制模型。其次,對(duì)無差拍電流預(yù)測(cè)控制原理和控制性能進(jìn)行了研究,由于預(yù)測(cè)控制的性能依賴于電機(jī)參數(shù)的準(zhǔn)確性,本文對(duì)電機(jī)參數(shù)偏差和預(yù)測(cè)控制動(dòng)穩(wěn)態(tài)性能的關(guān)系進(jìn)行了理論分析,當(dāng)預(yù)測(cè)模型電感與電機(jī)實(shí)際電感相差較大時(shí),控制系統(tǒng)發(fā)散。為了增強(qiáng)控制系統(tǒng)對(duì)電感參數(shù)的魯棒性,采用一種魯棒電流預(yù)測(cè)控制算法,通過改變權(quán)重系數(shù)的大小來調(diào)節(jié)控制系統(tǒng)的穩(wěn)定范圍。但是權(quán)重系數(shù)的減小會(huì)降低控制系統(tǒng)的帶寬,導(dǎo)致電流的動(dòng)態(tài)響應(yīng)變慢,因此,為了最大程度的提高預(yù)測(cè)控制的性能,需要結(jié)合這兩種算法的優(yōu)點(diǎn),取長(zhǎng)補(bǔ)短。然后,為了消除電機(jī)參數(shù)偏差導(dǎo)致的電流穩(wěn)態(tài)誤差,采用模型參考自適應(yīng)的方法對(duì)電機(jī)的電感和磁鏈進(jìn)行在線辨識(shí),用電機(jī)參數(shù)的辨識(shí)值去實(shí)時(shí)的修正預(yù)測(cè)模型參數(shù)。同時(shí),基于電感參數(shù)的在線辨識(shí)提出了一種在線切換策略,在電感偏差較大時(shí)使用魯棒控制算法提高控制系統(tǒng)的穩(wěn)定性,而當(dāng)電感參數(shù)收斂到真實(shí)值時(shí),再切換回傳統(tǒng)無差拍電流預(yù)測(cè)控制,使得控制系統(tǒng)穩(wěn)定性提高的同時(shí)維持其良好的動(dòng)態(tài)響應(yīng)。最后,基于TMS320F28335芯片設(shè)計(jì)了永磁同步電機(jī)驅(qū)動(dòng)系統(tǒng),通過實(shí)驗(yàn)進(jìn)一步研究了無差拍電流預(yù)測(cè)控制性能和電機(jī)參數(shù)的關(guān)系,驗(yàn)證了魯棒預(yù)測(cè)控制算法、模型參考自適應(yīng)參數(shù)辨識(shí)算法以及預(yù)測(cè)控制算法在線切換策略的正確性和有效性。
[Abstract]:Permanent magnet synchronous motor (PMSM) has many advantages, such as fast dynamic response, high steady-state precision and wide speed range, so it has been widely used in the field of high-precision servo control. The control effect of the current inner loop of servo system has a great influence on the dynamic and steady performance of the motor. The traditional current loop control strategy is difficult to meet the requirements of the motor control performance. Therefore, new control strategies such as predictive control are used in motor current loop control. In this paper, the mathematical model of permanent magnet synchronous motor (PMSM) is simplified, and its mathematical model in three-phase stationary coordinate system is deduced. Based on the principle of conservation of magnetic potential, the CLARK and PARK transformation matrices are derived. The mathematical model of the three-phase permanent magnet synchronous motor under dq-axis is obtained, which can decouple the excitation and torque components of the motor. The mathematical model is discretized by the first order Taylor formula and the predictive control model of the motor is obtained. Secondly, the principle and control performance of predictive control are studied. Because the performance of predictive control depends on the accuracy of motor parameters, the relationship between the error of motor parameters and the dynamic and steady performance of predictive control is analyzed theoretically in this paper. The control system diverges when the difference between the predictive model inductance and the actual inductance of the motor is large. In order to enhance the robustness of the control system to the inductance parameters, a robust current predictive control algorithm is used to adjust the stable range of the control system by changing the weight coefficient. However, the decrease of the weight coefficient will reduce the bandwidth of the control system and slow down the dynamic response of the current. Therefore, in order to maximize the performance of predictive control, it is necessary to combine the advantages of the two algorithms to complement each other. Then, in order to eliminate the current steady-state error caused by the parameter deviation of the motor, the inductance and flux chain of the motor are identified online by the model reference adaptive method, and the model parameters are corrected in real time by the identification value of the motor parameters. At the same time, an on-line switching strategy based on inductance parameter identification is proposed. The robust control algorithm is used to improve the stability of the control system when the inductance deviation is large, but when the inductance parameter converges to the real value, the robust control algorithm is used to improve the stability of the control system. Then switching back to the traditional deadbeat current predictive control, the stability of the control system is improved while maintaining its good dynamic response. Finally, a permanent magnet synchronous motor drive system based on TMS320F28335 chip is designed. The relationship between the performance of beat free predictive control and motor parameters is further studied through experiments, and the robust predictive control algorithm is verified. Model reference adaptive parameter identification algorithm and predictive control algorithm are correct and effective.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TM341

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