【作者】 陈娜；

【导师】 冯勇；

【作者基本信息】 哈尔滨工业大学 ， 电力电子与电力传动， 2010， 硕士

【摘要】 永磁同步电机(PMSM)具有结构简单、运行可靠的优点,在高精度、高性能的伺服系统中应用广泛,如机器人、数控机床等。永磁同步电机伺服系统在实际运行中存在负载扰动、参数摄动,在这种情况下,为使系统满足高速、高精度的控制要求,需要研究PMSM伺服系统的先进控制算法。滑模控制是一种对系统变化有很强鲁棒性的控制算法,应用于PMSM系统,可以克服系统不确定带来的问题。本文采用转子磁场定向的矢量控制算法实现了永磁同步电机的力矩和磁场解耦控制,利用非奇异终端滑模控制算法设计PMSM矢量控制系统的速度控制器。针对滑模控制器的抖振问题,设计了模糊滑模控制器,并利用Lyapunov稳定定律证明了控制系统的稳定性。为了验证控制算法,进行Matlab仿真,结果表明,模糊滑模控制器对系统的负载扰动和参数摄动具有较好的鲁棒性,且有效地抑制了滑模系统存在的抖振现象。设计以TMS320F2812为核心的永磁同步电机伺服系统硬件电路。基于滑模控制算法编写永磁同步电机伺服系统的软件程序。软件程序完成永磁同步电机伺服系统反馈信号的处理,并结合SVPWM控制方式,计算得到永磁同步电机的控制信号,进而实现速度、电流双闭环控制。最后,采用单纯形法优化PI控制器的控制参数,得到PI最优控制参数。对比滑模控制器和最优PI控制器的实验控制效果,结果表明,在PMSM速度控制系统中采用滑模控制器,能够减小速度响应超调量,缩短稳定时间,提高速度的动态跟踪精度,改善系统的性能更多还原

【Abstract】 Permanent magnet synchronous motor (PMSM) has the advantages of simple structure and reliable operation,therefore,it has a wide application in servo system which needs high precision and high performance, such as robots、digital controlled machines and so on. Permanent magnet synchronous motor system has problems of parameters perturbation and external disturbance in practical performance. In the situation, we need to study its advanced control algorithm for the requirements of high speed, high precision control.Sliding Mode Control (SMC), which is strongly robust to system changes, could solve the problems come of system uncertainty in PMSM servo system. This paper uses rotor flux orientation vector control to realize PMSM system flux and torque decoupling Non-singular terminal sliding mode is used to design PMSM vector control system’s speed controller. In order to weaken the chattering phenomenon of the sliding mode controller, this paper designs fuzzy sliding mode controller, its stability is proved by Lyapunov method. On the purpose of verifying the control algorithm, simulation research using Matlab software. The simulation results indicate that, the fuzzy sliding mode controller is robust to both load disturbances and parameters perturbation. Fuzzy control method can successfully weaken the chattering phenomenon of sliding mode control.TMS320F2812 as core is used to design servo system hardware circuit. Software program programming for PMSM control system based on slip mode control algorithm. The software program complete processing of feedback signal which come from PMSM control system. Permanent magnetism synchronous machine’s control signal is calculated by SVPWM control method, then speed and current double closed-loop control is realized.Finally, PI controller parameters is adjusted by the simplex search and then obtains the optimal control parameters. The contrast analysis of the slip mode controller and the optimal PI controller’s experiment control effect, indicates that, adopts sliding mode controller in PMSM control system could reduced overshoot of the speed loop and shorten the stability time, increased dynamic tracking precision of speed, improve the performance of motor control.更多还原