【作者】 张侨；

【导师】 沈安文；

【作者基本信息】 华中科技大学 ， 控制理论与控制工程， 2006， 硕士

【摘要】 本文以永磁同步电动机为研究对象,对交流伺服系统从数学模型、控制方法以及系统的硬件和软件设计等方面进行了系统的研究,提出了一种改进的单神经元PID控制方法,实现了交流伺服系统的基本要求。首先,在电机的模型推导中,本文分别推导了同步电机在三相坐标轴和两相坐标轴上的数学模型,并且详细介绍了基于两相旋转坐标轴的磁场定向矢量控制策略以及基于这种策略的脉宽调制方式(SVPWM)。接着,依据所推导的电机模型,对系统的控制方法进行理论推导。系统总体采用的是三环控制方式,包括电流环、速度环以及位置环。文章分别对这三个环的控制器设计进行了理论推导,其中着重介绍了一种改进的单神经元PID算法对速度环进行控制,可以实现速度环控制参数在线整定。这种方法具有计算量小、鲁棒性好、能够适用于电机运行的各个速度区域。然后,对系统的硬件和软件设计进行了介绍:硬件设计分别从功率板和控制板电路的设计和实现进行说明;软件设计给出了各个程序模块的程序流程图。最后,本文分别给出了电流、速度和位置控制的实验波形;并且将传统的PI速度控制以及利用改进的单神经元算法对控制器参数整定的速度控制效果做了对比;此外还给出了电机在各个速度区域的速度波形。通过实验验证了这种方法的正确性,同时也通过实验证明了系统达到了伺服系统的基本要求。更多还原

【Abstract】 The mathematical model, control strategies and the hardware&software design of the AC SERVO are introduced in this paper, and an improved online parameter tuning strategy is also proposed. Then the basic requirements of the AC SERVO can be achieved.Firstly, the three-phrase coordinate and two-phase coordinate mathematical models of PMSM are introduced in this paper, what’s more the magnetic field oriented vector control strategy and a pulse width modulation strategy base on two-phase rotary coordinate are introduced in detail.Secondly, the control strategies can be deduced from the mathematical model of the PMSM. The system can be divided into three control loops, including the current loop, the speed loop and the position loop. Then the paper introduces that how to deduce the design of the controllers from the control theories, emphasizing a improved single neuron algorithm for the parameters online auto-tuning of the speed controller. This tuning strategy has the advantages of low algorithm complex, good robustness and can adapt in every speed area of the PMSM.Thirdly, the paper introduces the design of hardware and software for the system. In hardware design introduction, the power board and control board introductions are included. In software design introduction it presents the flow charts of the program modules.Finally, the wave-forms of the current loop, the speed loop and the position loop are presented. Especially, the waveforms of the improved strategy are compared with the traditional PI control results, also the waveforms of every speed area are presented. Both the validity of the improved strategy and the design success of the AC SERVO are practical confirmed through the experimental results.更多还原