【作者】 魏熙乐；

【导师】 王江；

【作者基本信息】 天津大学 ， 控制理论与控制工程， 2004， 硕士

【摘要】 随着大功率开关器件、数字专用集成电路的不断问世和控制理论的不断进步，交流伺服系统得到了迅速发展，其中永磁同步电动机及其驱动理论和应用的研究成为交流调速系统研究的一个焦点。总的来说，永磁同步电动机的伺服控制方法分为线性 PID 控制和非线性控制两大类。线性控制算法简单、易于实现，但不能满足更高精度的动态性能场合的控制要求；近年来，各国学者和研究人员纷纷致力于非线性控制的研究，已经取得了卓有成效的成果，可以获得高质量的动态和稳态性能，系统具有很强的鲁棒性，然而非线性控制算法一般较为复杂，实现困难。鉴于这两类方法的特点，本论文提出了一种新的永磁同步电动机的伺服控制方法—基于二阶离散平滑轨迹跟踪滤波策略的伺服控制，这是一种非线性控制和线性控制相结合的方法，体现了控制算法简单、实现容易的优点，同时又能较好的满足高精度的动态性能的要求。本论文首先阐述了二阶平滑轨迹跟踪滤波器的原理，得到离散形式的非线性控制率的设计，该滤波器的输出适合于伺服系统的前馈控制，保证系统的最小时间响应和平滑轨迹跟踪。结合永磁同步电动机的(d,q)数学模型，在实现电流闭环线性控制后，运动系统可以等效为典型的二阶系统。然后将非线性最小跟踪轨迹应用于永磁同步电动机的位置伺服控制，并通过 MATLAB 仿真和 DSP 实验结果证明了所提方法的正确性和有效性。更多还原

【Abstract】 With the unceasing emergence of the high-power switch devices, digital specialintegrated circuit and the in-depth improvement of the control theory, the AC servocontrol systems are developing extensively and rapidly, where the research of thePermanent Magnet Synchronous Motor (PMSM) and it’s driving theory andapplication has become a focus of the research of the AC velocity adjusting system. In general, the servo control methods of PMSM are divided into two categoriesof the linear PID control and the nonlinear control. Though the arithmetic of theformer is simple enough to implement, the higher satisfied dynamic precision can’t beacquired. In present, the worldwide researchers successively engage in the research ofthe nonlinear servo control for PMSM and have obtained the highly effective resultswith the perfectly dynamic precision and the strong robustness of the system. But thearithmetic of the nonlinear control is commonly too complex to realize in practice. Anew kind of servo control method for PMSM based on a two-order nonlinear smoothtrajectory filter is presented in this paper and this merged method of the linear and thenonlinear control represent the advantages of the simple arithmetic, the easyimplementation and the highly dynamic precision. In this paper, the discrete nonlinear controller is designed by discussing thetheory of the two-order nonlinear smooth trajectory filter with the outputs suitable forthe feed-forward controlling which guarantees minimum time response and smoothtrajectory tracking. The motion system can be equivalent to the two-order systemunder the linear closed loop current control in view of the (d,q) mathematic modelfor PMSM so that the nonlinear smooth trajectory tracking strategy can be appliedinto the position servo control. Finally, the validity and effectiveness of this controlmethod are verified through the simulations and the practical DSP experiments.更多还原