【摘要】：整定伺服系統(tǒng)PI調(diào)節(jié)器必然要考慮系統(tǒng)等效的轉(zhuǎn)動(dòng)慣量，同時(shí)PI調(diào)節(jié)器的比例和積分增益主要決定伺服系統(tǒng)的穩(wěn)定性和響應(yīng)速度。在線伺服控制器整定技術(shù)一般包括轉(zhuǎn)動(dòng)慣量辨識(shí)過程和PI參數(shù)整定過程，而且在辨識(shí)和整定過程中應(yīng)避免干預(yù)伺服系統(tǒng)的正常工作指令。本文的完全在線參數(shù)自整定研究是基于3.3kW的永磁同步電機(jī)伺服平臺(tái)。 首先本文將介紹兩種在線轉(zhuǎn)動(dòng)慣量辨識(shí)算法，并針對(duì)含有協(xié)方差矩陣的辨識(shí)算法存在計(jì)算字長(zhǎng)要求高、在嵌入式處理器多次迭代會(huì)累積截?cái)嗾`差、加重噪聲對(duì)辨識(shí)結(jié)果影響的問題，提出能削弱此影響的基于遺忘因子遞推平方根的在線慣量辨識(shí)算法。實(shí)驗(yàn)結(jié)果表明該方法確實(shí)有效，基本不受電機(jī)轉(zhuǎn)速給定的影響，辨識(shí)精度穩(wěn)定。同時(shí)本文提出若干改進(jìn)措施，使辨識(shí)算法適應(yīng)負(fù)載轉(zhuǎn)矩偶爾變化的場(chǎng)合。 其次，提出一組包含伺服系統(tǒng)速度環(huán)開環(huán)截止頻率、相角裕度和轉(zhuǎn)動(dòng)慣量的PI整定公式。大量仿真結(jié)果說明此PI整定公式具有整定相角裕度和閉環(huán)帶寬的可行性。隨后本文通過大量仿真確定出相角裕度60°下伺服系統(tǒng)速度環(huán)極限帶寬，，并給出極限帶寬通用計(jì)算公式。 最后，本文給出PI整定公式在標(biāo)幺化數(shù)字控制系統(tǒng)中的推導(dǎo)方法；同時(shí)將FFRSR在線轉(zhuǎn)動(dòng)慣量辨識(shí)法、已提出的PI整定公式和極限帶寬計(jì)算公式三部分結(jié)合形成無需人為干預(yù)的完全在線參數(shù)自整定模塊。實(shí)驗(yàn)結(jié)果表明整定過程完全沒有人工干預(yù)，整定效果穩(wěn)定良好，改善了伺服系統(tǒng)動(dòng)態(tài)響應(yīng)性能。
[Abstract]:The tuning servo system PI regulator must consider the equivalent moment of inertia of the system, and the proportion and integral gain of the PI regulator mainly determine the stability and response speed of the servo system. On-line servo controller tuning techniques generally include the process of inertia identification and PI parameter tuning, and the interference of normal working instructions of servo system should be avoided in the process of identification and tuning. In this paper, the complete online parameter self-tuning is a permanent magnet synchronous motor servo platform based on 3.3kW. First of all, this paper introduces two online moment of inertia identification algorithms. For the identification algorithm with covariance matrix, the computing word length is very high, and the truncation error is accumulated in the embedded processor. This paper presents an on-line inertia identification algorithm based on the recursive square root of forgetting factor, which can weaken the influence of noise on the identification results. The experimental results show that the method is effective and the identification accuracy is stable. At the same time, some improvement measures are proposed to adapt the identification algorithm to the occasion of occasional load torque variation. Secondly, a set of PI tuning formulas including the open loop cutoff frequency, phase angle margin and moment of inertia of the speed loop of the servo system are proposed. A large number of simulation results show that the PI tuning formula has the feasibility of tuning phase angle margin and closed-loop bandwidth. Then through a lot of simulations, the limit bandwidth of speed cycle of servo system is determined at 60 擄phase angle margin, and the general calculation formula of the limit bandwidth is given. Finally, the derivation method of PI tuning formula in the standard unitary digital control system is given, and the FFRSR on-line moment of inertia identification method is also given. The proposed PI tuning formula and the limit bandwidth calculation formula are combined to form a complete on-line parameter self-tuning module without human intervention. The experimental results show that there is no manual intervention in the tuning process, the tuning effect is stable and the dynamic response performance of the servo system is improved.
【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】：2014
【分類號(hào)】：TM921.541

【參考文獻(xiàn)】

相關(guān)博士學(xué)位論文 前1條

1 紀(jì)科輝;低速交流電機(jī)伺服系統(tǒng)的研究與實(shí)現(xiàn)[D];浙江大學(xué);2013年

本文編號(hào)：2233991