【作者】 王磊；

【导师】 于双和；

【作者基本信息】 大连海事大学 ， 控制理论与控制工程， 2009， 硕士

【摘要】 永磁同步电机(PMSM)因其体积小、磁密度高、可靠性好以及对环境适应性强等诸多优点,被广泛应用于工农业生产和航空航天等领域。而伴随着这些领域的不断发展,更高的调速精度、更大的调速范围以及更快的响应速度成为永磁同步电机调速系统的迫切要求。本文在总结PMSM速度控制系统发展概况的基础上,详细介绍了现在通用的内嵌式PMSM数学模型的建立过程,并在此模型基础上进行PMSM非线性控制算法的研究。PMSM是一种多变量、强非线性、高耦合性、时变被控对象。本文首先介绍PMSM在d-q坐标系下的数学模型,分析矢量控制策略,并选择了i_d=0控制策略以实现系统的解耦。而针对PMSM的强非线性,采用反步非线性控制的方法,其设计参数少,便于工程实现;另外,反步法是从Lyapunov稳定性出发设计的,因此能够保证系统的稳定性。考虑到PMSM在实际运行中的负载转矩和电阻等参数不确定性,提出了在系统中加入自适应参数估计的方法,有效的抑制了系统这些参数变化对速度控制系统的不利影响。随着应用领域的推广和不同领域对于电机性能的要求不同,在一些要求复杂调速的领域,永磁同步电机的目标转速是随时间变化而不断变化的。为了使调速系统能够有效紧密的跟踪所要求的转速,本文提出了基于时变速要求的变速跟踪控制方案,设计了反步自适应变速跟踪控制器。考虑到测速器在系统造价高、可靠性低等各方面缺点,本文在反步自适应变速跟踪的基础上设计了速度估测器来代替测速器。经过理论证明和仿真结果分析,论证了以上所有控制器和估测器的有效性。在论文的最后,对全文的工作做了总结,并对PMSM速度控制系统的研究工作进行了展望。更多还原

【Abstract】 Permanent Magnet Synchronous Motors(PMSM) have been widely used in industrial and agricultural production and the field of Aeronautics and Astronautics for their advantages, such as compactness,high efficiency,reliability and adaptability to the environment.Along with the continuous development of these areas,the speed control system for PMSM urgently needs to have better precision,wider speed-regulating range and faster response.Based on the overview of PMSM speed control system development,this thesis firstly presents the process of building the mathematic model for an Interior Permanent Magnet Synchronous Motors (IPMSM),and then we mainly develop a few nonlinear control algorithms of PMSM for the speed regulation and tracking based on this model.PMSM is a highly nonlinear and coupling,structure varying,and multivariable object. Firstly,the mathematical model of PMSM is built under the d-q coordinates.After analysis of vector control strategies,we chose i_d=0 control strategy to decouple the system.For the highly nonlinear characteristics of PMSM,backstepping control method is adopted.This method has fewer design parameters and can be easily realized,furthermore the design rule of backstepping makes global asymptotical stabilization with Lyapunov function.Taking into account the variability of the parameters in PMSM,adaptive parameter estimation method is introduced into the backstepping control under Lyapunov stability.With the promotion of applications and different requirements in different areas,the speed is asked to be changed over time.This thesis designs a new backstepping controller to make the speed control system effectively and closely track the varying speed.Because the presence of speed sensor is undesirable for cost,maintenance and reliability reasons,a kind of sensorless backstepping control based on a speed estimator is designed in this thesis.All the above controllers are proved to be effective by the theory and simulation.The thesis is summarized at the end and some conclusions and future works are pointed out.更多还原