【作者】 刘军；

【导师】 陈瑛； 王卫平；

【作者基本信息】 南昌大学 ， 电气工程（专业学位）， 2022， 硕士

【摘要】 永磁同步电机(Permanent Magnet Synchronous Motor,PMSM)在现代工业中的作用十分重要,现代工业的快速发展对永磁同步电机的控制精度要求越来越高。在实际应用中,控制PMSM的常用方式是矢量控制技术,但传统的PI控制与滑模控制逐渐不能满足生产实践的要求。同时,矢量控制技术要求能准确获取电机转子的位置、速度信息,机械传感器的使用无疑增加了经济成本,并且在一些生产环境中不能精准地获取有效信息,这就使无位置传感器控制技术的研究十分有意义。本文主要研究的是一种基于级联式滑模观测器的永磁同步电机新型非奇异快速终端滑模控制算法。首先,从坐标变换理论出发,建立永磁同步电机在同步旋转坐标系与两相静止坐标系中的数学模型。详细阐述了关于三相电压的空间矢量表示、空间矢量脉宽调制(Space Vector Pulse Width Modulation,SVPWM)算法的基本原理以及算法的实现过程,最终在MATLAB/Simulink中实现SVPWM算法。在有机械传感器的条件下,分别对PI控制与传统的滑模控制作了比较分析,从而提出了一种新型非奇异快速终端滑模矢量控制算法,详细分析算法的理论实现过程,证明所设计的控制器的稳定性。为提高系统的抗干扰性能,分析设计了一种扩张扰动观测器,在电流环中将PI控制替换为无差拍电流预测控制。在MATLAB/Simulink中搭建系统仿真模型,从仿真结果中分析比较三种控制方法。其次,从永磁同步电机在两相静止坐标系中的数学模型出发,详细分析了无位置传感器控制算法的基本原理,从仿真结果中发现传统滑模观测器的缺陷。为得到更好的反电动势波形,采用了一种级联式滑模观测器算法,依次分析了电流滑模观测器与反电动势滑模观测器的理论建立过程,最后搭建仿真模型验证算法的可行性与优越性。最后,搭建了基于STM32F4芯片的PMSM实验平台,对硬件的整体架构进行了设计。硬件设计中包括驱动电路的设计、电源电路的设计以及信号采集电路的设计;软件设计包括主程序设计与中断程序设计。更多还原

【Abstract】 Permanent magnet synchronous motor plays a very important role in modern industry,and with the rapid development of modern industry,the control accuracy of permanent magnet synchronous motor is required higher and higher.In practical applications,the common way to control PMSM is vector control technology,but the traditional PI control and sliding mode control gradually can not meet the requirements of production practice.At the same time,vector control technology requires to accurately obtain the position and speed information of the motor rotor,the use of mechanical sensors undoubtedly increases the economic cost,and in some production environments can not accurately obtain effective information,which makes the research of position sensorless control technology very meaningful.This paper focuses on a new non-singular fast terminal sliding mode control algorithm for permanent magnet synchronous motor based on cascaded sliding mode observer.Firstly,the mathematical model of the permanent magnet synchronous motor in synchronous rotating coordinate system and two-phase stationary coordinate system are established based on the coordinate transformation theory.The space vector representation of three-phase voltage,the basic principle of SVPWM algorithm and the implementation process of the algorithm are elaborated,and finally the SVPWM algorithm is implemented in MATLAB/Simulink.Under the condition of having mechanical sensors,the PI control is compared with the traditional sliding mode control,so that a new nonsingular fast terminal sliding mode vector control algorithm is proposed.The theoretical implementation process of the algorithm is analyzed in detail to prove the stability of the designed controller.In order to improve the anti-disturbance performance of the system,an expansive disturbance observer is analyzed and designed to replace the PI control with a non-differential beat current predictive control in the current loop.The system simulation model is built in MATLAB/Simulink,and the three control methods are analyzed and compared from the simulation results.Secondly,the basic principle of the position sensorless control algorithm is analyzed in detail from the mathematical model of the permanent magnet synchronous motor in two-phase static coordinate system,and the defects of traditional sliding mode observer are found from the simulation results.In order to get a better counterelectromotive force waveform,a cascaded sliding mode observer algorithm is proposed.The theoretical establishment process of current sliding mode observer and counterelectromotive force sliding mode observer is analyzed in turn,and finally a simulation model is built to verify the feasibility and superiority of the algorithm.Finally,PMSM experimental platform based on the STM32F4 chip is built,and the overall hardware is designed,the hardware design includes the design of driving circuit,power supply circuit and signal acquisition circuit.The software design includes main program design and interrupt program design.更多还原