基于自抗扰控制器的永磁同步电机伺服系统控制策略的研究及实现
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摘要
永磁同步电机具有功率因数高、效率高、结构简单、价格合适等优点,广泛应用于数控机床领域,然而永磁同步电机是一个非线性、强耦合、参数摄动的多变量系统,对于伺服系统控制策略要求较高。自抗扰控制器是一种新型的非线性控制器,由非线性跟踪微分器、扩张状态观测器以及非线性误差反馈控制律组成,综合了经典PID控制器不依赖于控制对象具体模型的优点以及现代控制理论的设计方法。本论文将自抗扰控制器引入永磁同步电机伺服系统控制策略,能够有效提高控制系统动静态性能以及抗扰动能力。
首先,研究了基于自抗扰控制器的永磁同步电机矢量控制策略。对于dq坐标系下的永磁同步电机数学模型进行分析,从而得出系统中存在非线性、强耦合、参数摄动等扰动因素的本质原因;在此基础上设计基于自抗扰控制器的永磁同步电机矢量控制策略,即可实时观测出上述扰动因素并进行补偿控制。仿真以及实验验证了控制策略的有效性。
其次,将扩张状态观测器和非线性跟踪微分器引入永磁同步电机无机械传感器矢量控制。由于αβ坐标系下的永磁同步电机模型中含有转子位置以及转速信息的不确定项结构简单,因此选择αβ坐标系下的电机模型作为研究对象;将模型中含有转子位置以及转速的不确定项扩张成为新的状态变量,应用扩张状态观测器和非线性跟踪微分器进行精确估计,在此基础上即可实现永磁同步电机无机械传感器矢量控制。仿真以及实验验证了控制策略的有效性。
然后,考虑到定子磁链以及转速观测是实现永磁同步电机无机械传感器直接转矩控制的关键,因此研究了通过扩张状态观测器实现的定子磁链以及转速观测。由dq坐标系下的永磁同步电机定子电流方程推导出定子磁链方程,这是实现精确观测的重要前提;将含有定子磁链以及转速的不确定项扩张成为新的状态变量,使用扩张状态观测器实现定子磁链以及转速的精确观测,在此基础上即可进行永磁同步电机无机械传感器直接转矩控制。仿真以及实验验证了控制策略的有效性。
最后,介绍了自行研制的八轴运动控制卡的硬件设计、底层软件封装等工作;基于八轴运动控制卡搭建了电机伺服系统,并将其应用于本实验室所研发的开放式数控机床,从而验证了本文所提出的基于自抗扰控制器的永磁同步电机伺服系统控制策略的有效性。
Permanent magnet synchronous servo control system is widely used in open CNC machine. However, permanent magnet synchronous motor is a nonlinear, strong coupling, multi-parameter perturbation variable system, so demanding for the control strategy. In this paper the research methods based on the vector control strategy, no mechanical sensorless vector control strategy, direct torque control strategy are studied, and ADRC is applied to improve the systen performance. Then a DSP-based multi-axis motion control card is built as an experimental platform. The simulation and experiment on permanent magnet synchronous servo system control strategy are verified in this basis.
The PMSM vector control theory is analysed, and a control strategy based on permanent magnet synchronous motor is introduced to the control strategy. First, a strategy based on ADRC is proposed to estimated and compensated the disturbances. Second, a DSP-based multi-axis motion control card is designed. Simulation and experimental results show that the vector control system is simple, and will improve the stability, robustness and adaptability in the system significantly.
The PMSM sensorless vector control theory is analysed, and a control strategy based on permanent magnet synchronous motor is introduced to the control strategy. The rotor position and speed will be estimated by an ESO and a NTD, and the accurate closed-loop control will be achieved on this basis. Simulation and experimental results show that the control system is simple, and will give fast, accurate position control results.
The PMSM direct torque control theory is analysed, and a control strategy based on permanent magnet synchronous motor is introduced to the control strategy. In this method, the stator flux is chosen as state variables, and the uncertain component including the rotor speed is extended into a new state variable. Then the stator flux and speed can be obtained by ESO timely. Simulation and experimental results show that the new control strategies improve the system dynamic、static performance and robustness significantly.
In order to verify the effectiveness of the control strategy for permanent magnet synchronous servo, the paper developed a DSP-based multi-axis motion control card and described the system hardware and software architecture, implemented on this basis, the effective control of permanent magnet synchronous current.
首先,研究了基于自抗扰控制器的永磁同步电机矢量控制策略。对于dq坐标系下的永磁同步电机数学模型进行分析,从而得出系统中存在非线性、强耦合、参数摄动等扰动因素的本质原因;在此基础上设计基于自抗扰控制器的永磁同步电机矢量控制策略,即可实时观测出上述扰动因素并进行补偿控制。仿真以及实验验证了控制策略的有效性。
其次,将扩张状态观测器和非线性跟踪微分器引入永磁同步电机无机械传感器矢量控制。由于αβ坐标系下的永磁同步电机模型中含有转子位置以及转速信息的不确定项结构简单,因此选择αβ坐标系下的电机模型作为研究对象;将模型中含有转子位置以及转速的不确定项扩张成为新的状态变量,应用扩张状态观测器和非线性跟踪微分器进行精确估计,在此基础上即可实现永磁同步电机无机械传感器矢量控制。仿真以及实验验证了控制策略的有效性。
然后,考虑到定子磁链以及转速观测是实现永磁同步电机无机械传感器直接转矩控制的关键,因此研究了通过扩张状态观测器实现的定子磁链以及转速观测。由dq坐标系下的永磁同步电机定子电流方程推导出定子磁链方程,这是实现精确观测的重要前提;将含有定子磁链以及转速的不确定项扩张成为新的状态变量,使用扩张状态观测器实现定子磁链以及转速的精确观测,在此基础上即可进行永磁同步电机无机械传感器直接转矩控制。仿真以及实验验证了控制策略的有效性。
最后,介绍了自行研制的八轴运动控制卡的硬件设计、底层软件封装等工作;基于八轴运动控制卡搭建了电机伺服系统,并将其应用于本实验室所研发的开放式数控机床,从而验证了本文所提出的基于自抗扰控制器的永磁同步电机伺服系统控制策略的有效性。
Permanent magnet synchronous servo control system is widely used in open CNC machine. However, permanent magnet synchronous motor is a nonlinear, strong coupling, multi-parameter perturbation variable system, so demanding for the control strategy. In this paper the research methods based on the vector control strategy, no mechanical sensorless vector control strategy, direct torque control strategy are studied, and ADRC is applied to improve the systen performance. Then a DSP-based multi-axis motion control card is built as an experimental platform. The simulation and experiment on permanent magnet synchronous servo system control strategy are verified in this basis.
The PMSM vector control theory is analysed, and a control strategy based on permanent magnet synchronous motor is introduced to the control strategy. First, a strategy based on ADRC is proposed to estimated and compensated the disturbances. Second, a DSP-based multi-axis motion control card is designed. Simulation and experimental results show that the vector control system is simple, and will improve the stability, robustness and adaptability in the system significantly.
The PMSM sensorless vector control theory is analysed, and a control strategy based on permanent magnet synchronous motor is introduced to the control strategy. The rotor position and speed will be estimated by an ESO and a NTD, and the accurate closed-loop control will be achieved on this basis. Simulation and experimental results show that the control system is simple, and will give fast, accurate position control results.
The PMSM direct torque control theory is analysed, and a control strategy based on permanent magnet synchronous motor is introduced to the control strategy. In this method, the stator flux is chosen as state variables, and the uncertain component including the rotor speed is extended into a new state variable. Then the stator flux and speed can be obtained by ESO timely. Simulation and experimental results show that the new control strategies improve the system dynamic、static performance and robustness significantly.
In order to verify the effectiveness of the control strategy for permanent magnet synchronous servo, the paper developed a DSP-based multi-axis motion control card and described the system hardware and software architecture, implemented on this basis, the effective control of permanent magnet synchronous current.
引文
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