本文關(guān)鍵詞： 交流感應(yīng)電機 無傳感器 擴展卡爾曼濾波 無跡卡爾曼濾波 自適應(yīng)補償　出處：《哈爾濱工業(yè)大學(xué)》2015年碩士論文　論文類型：學(xué)位論文

【摘要】：矢量控制技術(shù)的應(yīng)用使交流系統(tǒng)獲得了良好的動、靜態(tài)性能,隨著其理論的成熟,交流感應(yīng)電驅(qū)動系統(tǒng)以其成本低、可靠性高、維護簡單等優(yōu)勢逐步發(fā)展成車用電驅(qū)動系統(tǒng)的主流。本文結(jié)合非線性卡爾曼濾波理論針對交流感應(yīng)型電機的無傳感器矢量控制展開研究,通過仿真以及實驗完成了對其控制系統(tǒng)性能的評估。推導(dǎo)了坐標變換理論并依次建立了各坐標系中電機的數(shù)學(xué)模型,詳細論述了矢量控制原理。建立了交流感應(yīng)電機矢量控制系統(tǒng)仿真模型以及實驗平臺,仿真及實驗都證實了此系統(tǒng)性能良好。重點分析了擴展卡爾曼濾波理論以及無跡卡爾曼濾波理論的原理及迭代流程。結(jié)合交流感應(yīng)電機狀態(tài)空間方程分別建立了基于擴展卡爾曼濾波理論與基于無跡卡爾曼濾波理論的交流感應(yīng)電機轉(zhuǎn)速與磁鏈估計模型。在詳細分析了交流感應(yīng)電機狀態(tài)估計迭代步驟之后,利用MATLAB/Simulink環(huán)境,分別建立了基于擴展卡爾曼濾波理論與基于無跡卡爾曼濾波理論的無傳感器矢量控制系統(tǒng)仿真模型。仿真結(jié)果驗證了系統(tǒng)估計準確,動、靜態(tài)性能優(yōu)異。結(jié)合理論分析及仿真模型,利用TI公司提供的數(shù)字電機控制開發(fā)箱,實現(xiàn)了無傳感器矢量控制實驗設(shè)計。為了驗證轉(zhuǎn)速和磁鏈的估計效果,設(shè)計并進行了動、靜態(tài)實驗,實驗結(jié)果進一步證明了設(shè)計的系統(tǒng)具有較好的性能�？紤]轉(zhuǎn)子電阻對估計結(jié)果的影響,通過改變轉(zhuǎn)子電阻考察了系統(tǒng)的估計效果,驗證了系統(tǒng)對轉(zhuǎn)子電阻的變化具有較好的適應(yīng)性。實驗結(jié)果表明基于無跡卡爾曼濾波理論的估計系統(tǒng)具有更快的動態(tài)響應(yīng)和更小的動、靜態(tài)估計誤差。為了進一步提高系統(tǒng)狀態(tài)估計效果,對系統(tǒng)相電壓畸變問題進行了分析,列舉了造成這一現(xiàn)象的原因并對誤差相電壓進行了量化計算,推導(dǎo)了誤差電壓公式。針對補償時間和電流符號兩個關(guān)鍵要素設(shè)計了自適應(yīng)補償策略。結(jié)合無跡卡爾曼濾波理論對誤差電壓進行了補償,在實驗中驗證了補償策略效果明顯,改善了系統(tǒng)轉(zhuǎn)速與磁鏈的估計效果,提高了系統(tǒng)的控制精度。
[Abstract]:The application of vector control technology makes the AC system obtain good dynamic and static performance. With the maturity of its theory, the AC induction electric drive system has low cost and high reliability. Based on the nonlinear Kalman filter theory, the sensorless vector control of AC induction motor is studied in this paper. The performance of the control system is evaluated by simulation and experiment. The coordinate transformation theory is derived and the mathematical models of the motor in each coordinate system are established in turn. The principle of vector control is discussed in detail. The simulation model and experimental platform of vector control system for AC induction motor are established. The simulation and experiments show that the system has good performance. The principle and iterative process of extended Kalman filter theory and unscented Kalman filter theory are analyzed, and the state space equations of AC induction motor are established respectively. The speed and flux estimation model of AC induction motor based on extended Kalman filter theory and unscented Kalman filter theory is proposed. The iterative steps of state estimation for AC induction motor are analyzed in detail. The simulation models of sensorless vector control system based on extended Kalman filter theory and unscented Kalman filter theory are established by using MATLAB/Simulink environment. The simulation results show that the system estimation is accurate and dynamic. The static performance is excellent. Combined with the theoretical analysis and simulation model, the sensorless vector control experiment design is realized by using the digital motor control development box provided by TI company. In order to verify the effect of the speed and flux estimation, the design and the movement are carried out. The static experiment results show that the system has better performance. Considering the influence of rotor resistance on the estimation results, the estimation effect of the system is investigated by changing the rotor resistance. The experimental results show that the estimation system based on the unscented Kalman filter theory has faster dynamic response and smaller motion. In order to further improve the effect of system state estimation, the phase voltage distortion of the system is analyzed, the causes of this phenomenon are listed, and the error phase voltage is calculated quantitatively. The error voltage formula is derived, the adaptive compensation strategy is designed for the two key elements of compensation time and current symbol, and the error voltage is compensated with the unscented Kalman filter theory. The experimental results show that the compensation strategy is effective. The system speed and flux estimation are improved, and the control precision is improved.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：U469.72;TM346

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本文編號：1530693