【摘要】：以永磁同步電機(jī)為執(zhí)行元件的交流伺服系統(tǒng)具有重量輕、體積小、效率高、功率密度大以及功率因素高等優(yōu)點(diǎn)，被廣泛的應(yīng)用于各種工業(yè)化自動(dòng)領(lǐng)域。交流伺服系統(tǒng)的控制性能與系統(tǒng)的控制方式密切相關(guān)，目前三環(huán)結(jié)構(gòu)的PID控制方式仍然是交流伺服系統(tǒng)中應(yīng)用最為廣泛的控制方式。為了使系統(tǒng)具有優(yōu)良的控制性能，必須對(duì)其三環(huán)的控制參數(shù)進(jìn)行充分整定。而人工手動(dòng)整定過(guò)程異常的繁瑣，且整定的效果與技術(shù)人員個(gè)人所具備的專業(yè)密切相關(guān)。其次，除了控制策略的影響，各種不確定性因素也會(huì)影響交流伺服系統(tǒng)的性能，其中負(fù)載轉(zhuǎn)矩的變化對(duì)其性能的影響最大。 本文針對(duì)負(fù)載轉(zhuǎn)矩?cái)_動(dòng)對(duì)交流伺服系統(tǒng)的影響提出了一套基于高階最優(yōu)化模型控制理論的控制參數(shù)整定方法，并提出了一種基于降維觀測(cè)器的轉(zhuǎn)矩?cái)_動(dòng)補(bǔ)償方法。 首先，分析了永磁同步電動(dòng)機(jī)的數(shù)學(xué)模型，為了簡(jiǎn)化其數(shù)學(xué)模型，對(duì)電機(jī)參數(shù)變量之間的關(guān)系進(jìn)行坐標(biāo)變換；介紹了永磁同步電機(jī)的電壓空間矢量脈寬調(diào)制原理以及實(shí)現(xiàn)方法，并在此理論基礎(chǔ)上建立了三環(huán)交流伺服控制系統(tǒng)仿真模型。其次，對(duì)交流伺服系統(tǒng)各組成環(huán)節(jié)進(jìn)行分析并得到各環(huán)節(jié)的傳遞函數(shù)，，根據(jù)交流伺服系統(tǒng)的控制過(guò)程及結(jié)構(gòu)，分別建立了三環(huán)的控制模型，根據(jù)建立的控制模型以及各控制環(huán)不同的性能要求，分別對(duì)三環(huán)的控制參數(shù)進(jìn)行整定，使系統(tǒng)獲得優(yōu)良的控制性能。 然后，根據(jù)交流伺服系統(tǒng)的數(shù)學(xué)模型以及狀態(tài)觀測(cè)器理論，分別設(shè)計(jì)了全維和降維負(fù)載轉(zhuǎn)矩觀測(cè)器。在此基礎(chǔ)上對(duì)降維觀測(cè)器的反饋常數(shù)矩陣進(jìn)行改進(jìn)，提出了高階滑模降維觀測(cè)器的設(shè)計(jì)方法，并建立了其仿真模型，通過(guò)仿真對(duì)三種觀測(cè)器進(jìn)行比較，其結(jié)果表明高階滑模降維負(fù)載觀測(cè)器的設(shè)計(jì)結(jié)構(gòu)簡(jiǎn)單，需要調(diào)節(jié)的參數(shù)少，估算更為精確。提出了基于高階滑模降維負(fù)載轉(zhuǎn)矩觀測(cè)器的轉(zhuǎn)矩?cái)_動(dòng)補(bǔ)償方法，仿真結(jié)果表明此補(bǔ)償方法使交流伺服系統(tǒng)具有了較強(qiáng)的抗負(fù)載擾動(dòng)能力。 最后，通過(guò)實(shí)驗(yàn)對(duì)上述的參數(shù)整定方法以及負(fù)載轉(zhuǎn)矩觀測(cè)補(bǔ)償方法進(jìn)行驗(yàn)證，實(shí)驗(yàn)結(jié)果表明，進(jìn)行控制參數(shù)整定后的交流伺服系統(tǒng)具有良好的魯棒性；高階滑模降維觀測(cè)器對(duì)負(fù)載轉(zhuǎn)矩的變化能做出快速、準(zhǔn)確的響應(yīng)，基于觀測(cè)器的轉(zhuǎn)矩?cái)_動(dòng)補(bǔ)償方法很好的抑制負(fù)載轉(zhuǎn)矩的擾動(dòng)，提高了交流伺服系統(tǒng)的抗擾動(dòng)性能。
[Abstract]:The AC servo system with permanent magnet synchronous motor (PMSM) as the actuator has the advantages of light weight, small volume, high efficiency, high power density and high power factor. It has been widely used in various industrial automatic fields. The control performance of AC servo system is closely related to the control mode of the system. At present, the three-ring structure PID control mode is still the most widely used control method in AC servo system. In order to make the system have excellent control performance, it is necessary to set the control parameters of the three loops. The manual setting process is very complicated, and the effect of setting is closely related to the specialty of the technicians. Secondly, in addition to the influence of control strategy, a variety of uncertainties will also affect the performance of AC servo system, in which the change of load torque has the greatest impact on the performance of AC servo system. In this paper, a set of control parameter tuning method based on high order optimization model control theory is proposed for the effect of load torque disturbance on AC servo system, and a torque disturbance compensation method based on reduced order observer is proposed. Firstly, the mathematical model of permanent magnet synchronous motor (PMSM) is analyzed. In order to simplify the mathematical model, coordinate transformation is carried out on the relationship between the parameters of PMSM. This paper introduces the principle and realization method of voltage space vector pulse width modulation of permanent magnet synchronous motor, and establishes the simulation model of three-loop AC servo control system based on the theory. Secondly, the components of AC servo system are analyzed and the transfer function of each link is obtained. According to the control process and structure of AC servo system, the three-loop control model is established respectively. According to the established control model and the different performance requirements of each control loop, the control parameters of the three-loop are adjusted respectively, so that the system can obtain excellent control performance. Then, according to the mathematical model of AC servo system and the theory of state observer, the full-dimension load torque observer is designed. On this basis, the feedback constant matrix of the reduced order observer is improved, the design method of the high order sliding mode reduced order observer is proposed, and its simulation model is established, and the three kinds of observer are compared by simulation. The results show that the design of the high order sliding mode reduced order load observer is simple, the parameters need to be adjusted less, and the estimation is more accurate. A torque disturbance compensation method based on high-order sliding mode reduced-order load torque observer is proposed. The simulation results show that the compensation method has a strong anti-load disturbance capability for AC servo system. Finally, the above parameters tuning method and load torque observation compensation method are verified by experiments. The experimental results show that the AC servo system after tuning the control parameters has good robustness. High-order sliding mode reduced-order observer can respond quickly and accurately to the change of load torque. The observer based torque disturbance compensation method can suppress the disturbance of load torque and improve the anti-disturbance performance of AC servo system.
【學(xué)位授予單位】：湖南大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TM341

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