【作者】 邱忠才；

【导师】 肖建；

【作者基本信息】 西南交通大学 ， 电机与电器， 2016， 博士

【摘要】 传统的永磁同步电机控制系统,通过机械传感器获得电机的速度与位置的反馈信号进行控制。机械传感器存在安装困难、体积变大、干扰影响和可靠性降低等问题。针对这个问题,无速度传感器控制已经成为目前研究热点。另外,永磁同步电机在工业领域的应用,期望有高性能的动态响应和静态响应,因此需要研究新型的高性能的控制算法,以提高控制系统控制性能和品质。本文在上述目标要求之下,着眼于滑模变结构控制理论的应用研究,进行了如下几个方面的讨论和研究。首先,简述永磁同步电机的基本工作原理,分析了永磁同步电机在不同坐标系下的数学模型,并且分析了其矢量控制的基本系统结构和主要功能模块,为永磁同步电机新型滑模变结构速度位置观测器算法和滑模变结构控制算法提供了研究基础。其次,针对永磁同步电机滑模观测器存在的系统抖振、角度偏差、速度计算的扰动问题,提出了两种新型的滑模观测器。其一是扩展卡尔曼滤波滑模观测器。通过引入Sigmoid函数、扩展卡尔曼滤波器和锁相环技术,减弱了系统抖振,解决了低通滤波器带来的角度偏差和需要补偿的问题,锁相环提取速度信号成功地削弱速度计算带来的扰动问题。其二是永磁同步电机扩展状态自适应滑模观测器,思想是把观测状态由原来的电流信号扩展到电流和半反电动势,并结合模型参考自适应控制理论,对半反电动势进行提取以获取角度信号,通过自适应率算法获得速度信号,减小系统抖振的同时可以省略低通滤波器,解决角度偏差和速度扰动的问题。再者,非奇异终端滑模控制是在终端滑模控制的基础上发展出来的控制算法,解决了它的奇异问题,但是系统状态的收敛速度没有终端滑模控制那么快,并且存在系统抖振的问题。采用伪指数趋近率以提高系统状态的收敛速度,引入扩张观测器对系统扰动进行观测来减小系统抖振,提出了基于扩张观测器的伪指数趋近率快速非奇异终端滑模控制算法。将该算法应用到永磁同步电机矢量控制速度环中,并进行了仿真研究,仿真结果表明该算法有效且正确。最后,对滑模预测控制进行了研究。结合多采样率控制理论,提出了永磁同步电机输入多采样率滑模预测控制算法,该算法能够改善永磁同步电机矢量控制系统速度环和电流环的动态响应速度不匹配的问题。更多还原

【Abstract】 In traditional control system of permanent magnet synchronous motor (PMSM), it need takes the speed and position signals of the motor as feed-back signals, and the signals usually can be obtained by mechanical sensors on the motor, while the sensors will cause the problems of installation, volume change, interference effect and reliability decrease,etc. In addition,PMSM application is expected to have high performance in dynamic and static response. Now the study on new type of high performance control algorithms that based on the two basic control strategies, vector control and direct torque control, improves the control performance and quality, which of the PMSM system is extremely urgent to settle.For these reasons, this dissertation focuses on the usage of sliding mode variable structure control theory. The main results are listed in the following aspects.First of all, the basic working principle of PMSM is briefly introduced, and the mathematical models of PMSM which in different coordinate systems are analyzed. The basic system structure and main function module of vector control are also analyzed, the work provides a research foundation for the new sliding mode of the PMSM, whose variable structure speed position observer algorithm and the sliding mode variable structure control algorithm.Secondly, aiming at the problems of PM SM sliding mode observer on chattering, angular deviation and speed calculation disturbance, two kinds of new-type sliding mode observer have been proposed. One is extended Kalman filter sliding mode observer. Through combining Sigmoid function, extended Kalman filter and phase-locked loop technology, the system chattering has been weakened, and the compensation requirement and angular deviation of low pass filter have been eliminated. It is verified that Phase-locked loop used in extracting speed signal has successfully weakened disturbance caused by speed calculation.The second one is extended state adaptive sliding mode observer, whose principle is expanding the observation state from the original single current signal to current and back emf, and combining with model reference adaptive control theory to extract angle signal from counter emf. At the same time, the speed signal is extracted by adaptive rate algorithm, which has weakened the system chattering and omitted low pass filter, and has also solved the problems of angular deviation and speed disturbance.Moreover, nonsingular terminal sliding mode control is an algorithm developed on the basis of the terminal sliding mode control, which has solved the singularity problem of the latter one, however, the convergence rate of the system state is not suitable compared to terminal sliding mode control, also the system chattering problem exists. In order to improve the convergence rate of the system state, the pseudoindex reaching law has been used. And the extended observer has been brought in to observe system disturbance to weaken system chattering. Based on such theoretical analysis, the extended state observer nonsingular terminal sliding mode control algorithm has been designed using in permanent magnet synchronous motor speed loop control. The simulation result has verified the validity and correctness of the proposed algorithm.Finally, combined with multi-rate sampled control theory, the sliding mode predictive control is researched, then it is proposed that the input multiple sampling rate sliding mode predictive control algorithm of PMSM. This algorithm can solve problem that the dynamic response of the speed loop and current loop mismatch in the permanent magnet synchronous motor vector control system.更多还原