發(fā)布時間：2018-04-01 00:09

  本文選題：PMSM　切入點：粘滯摩擦系數(shù)　出處：《江蘇大學(xué)》2017年碩士論文

【摘要】：永磁同步電機(PMSM)由于其高可靠運行性能、高功率密度、控制較簡單等特點,廣泛應(yīng)用于高性能伺服控制領(lǐng)域,如工業(yè)機器人。而永磁伺服系統(tǒng)經(jīng)常存在頻繁加減速等復(fù)雜工況以及多變載荷的負(fù)載條件,伺服系統(tǒng)的轉(zhuǎn)動慣量和負(fù)載轉(zhuǎn)矩將發(fā)生顯著變化,而控制器參數(shù)不變則無法滿足控制精度的要求。因此,需要自適應(yīng)辨識參數(shù)以提高控制的效果。傳統(tǒng)的模型參考自適應(yīng)算法在辨識機械參數(shù)時忽略了摩擦系數(shù)的影響,不影響摩擦較小的永磁伺服系統(tǒng)慣量和負(fù)載辨識結(jié)果的準(zhǔn)確性,但對于大粘滯摩擦系統(tǒng),會導(dǎo)致轉(zhuǎn)動慣量和負(fù)載辨識結(jié)果波動較大、不易穩(wěn)定。由此,本文提出了一種考慮粘滯摩擦系數(shù)的模型參考自適應(yīng)辨識算法。利用該算法可以同時得到不同轉(zhuǎn)速幅值和頻率以及不同慣量初值條件下的轉(zhuǎn)動慣量、負(fù)載轉(zhuǎn)矩和摩擦系數(shù)的準(zhǔn)確辨識值,提高了對存在較大摩擦系統(tǒng)機械參數(shù)辨識的準(zhǔn)確性�；�于反步法設(shè)計的控制器實質(zhì)上是由kp調(diào)節(jié)器以及各補償項構(gòu)成,當(dāng)各項參數(shù)準(zhǔn)確時能夠精確補償,但對于永磁伺服系統(tǒng)來說,參數(shù)是未知的或者參數(shù)隨運行環(huán)境改變,此時反步控制器無法精確補償,使系統(tǒng)誤差較大甚至失穩(wěn)。因此,本文對轉(zhuǎn)速環(huán)提出了自適應(yīng)反步控制,將辨識結(jié)果用于實時修正控制器參數(shù)以實現(xiàn)精確補償,提高系統(tǒng)魯棒性。傳統(tǒng)的未辨識摩擦系數(shù)的自適應(yīng)反步控制器會導(dǎo)致大粘滯摩擦系統(tǒng)的辨識結(jié)果波動、無法穩(wěn)定收斂于真實值,從而設(shè)計了實時辨識摩擦系數(shù)的自適應(yīng)反步控制器,可以得到不同轉(zhuǎn)速、不同負(fù)載和不同慣量初始值下的慣量、負(fù)載和摩擦系數(shù)的準(zhǔn)確辨識值,從而實現(xiàn)轉(zhuǎn)速環(huán)的自適應(yīng)反步控制,使系統(tǒng)具有較好的速度跟蹤性能。本文提出的轉(zhuǎn)速自適應(yīng)控制算法考慮了摩擦系數(shù)的影響,能得到機械參數(shù)的準(zhǔn)確辨識值,并實時修正控制器參數(shù),使得系統(tǒng)轉(zhuǎn)速跟蹤性能良好,并基于dSPACE公司DS1103系統(tǒng)實驗平臺對所提算法進(jìn)行實驗驗證�？刂品椒ńY(jié)構(gòu)簡單、易于實現(xiàn),適用范圍更廣,對于電流環(huán)參數(shù)的自適應(yīng)辨識具有指導(dǎo)意義。
[Abstract]:PMSM (permanent Magnet synchronous Motor) is widely used in the field of high performance servo control because of its high reliability, high power density, simple control and so on. For example, for industrial robots, permanent magnet servo systems often have complex working conditions such as frequent acceleration and deceleration, as well as load conditions with variable loads. The moment of inertia and load torque of servo system will change significantly. Therefore, adaptive identification parameters are needed to improve the control effect. The traditional model reference adaptive algorithm neglects the influence of friction coefficient when identifying mechanical parameters. The inertia of permanent magnet servo system with small friction and the accuracy of load identification results are not affected. However, for large viscous friction system, the results of inertia and load identification will fluctuate greatly and are not easy to be stabilized. In this paper, a model reference adaptive identification algorithm considering viscous friction coefficient is proposed. By using this algorithm, the moment of inertia can be obtained under different rotational speed amplitude and frequency, as well as under different inertia initial values at the same time. The accurate identification value of load torque and friction coefficient improves the accuracy of mechanical parameter identification for friction system with large size. The controller based on backstepping method is essentially composed of kp regulator and each compensation item. When the parameters are accurate, the parameters can be compensated accurately, but for the permanent magnet servo system, the parameters are unknown or the parameters change with the running environment, so the backstepping controller can not compensate accurately, which makes the system error large and even unstable. In this paper, an adaptive backstepping control is proposed for the rotational speed loop. The identification results are used to modify the controller parameters in real time to achieve accurate compensation. The traditional adaptive backstepping controller with unidentified friction coefficient can cause the identification results of large viscous friction systems to fluctuate and can not converge to the real value stably. An adaptive backstepping controller is designed to identify the friction coefficient in real time. The accurate identification values of inertia, load and friction coefficient can be obtained under different rotational speed, different load and different inertia initial value. In order to realize the adaptive backstepping control of the rotational speed loop and make the system have better speed tracking performance, the speed adaptive control algorithm proposed in this paper takes into account the influence of friction coefficient, and the accurate identification value of the mechanical parameters can be obtained. The controller parameters are corrected in real time to make the system speed tracking performance better, and the proposed algorithm is verified experimentally based on the DS1103 system experiment platform of dSPACE Company. The control method is simple, easy to realize and has a wider range of application. It is of guiding significance for adaptive identification of current loop parameters.
【學(xué)位授予單位】：江蘇大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP273;TM341

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 劉金海;陳為;;表貼式永磁同步電機準(zhǔn)穩(wěn)態(tài)多參數(shù)在線辨識[J];電工技術(shù)學(xué)報;2016年17期

2 荀倩;王培良;李祖欣;蔡志端;秦海鴻;;基于遞推最小二乘法的永磁伺服系統(tǒng)參數(shù)辨識[J];電工技術(shù)學(xué)報;2016年17期

3 陳煒;郭照升;夏長亮;谷鑫;;基于轉(zhuǎn)動慣量辨識的交流伺服系統(tǒng)自適應(yīng)擾動觀測器設(shè)計[J];電工技術(shù)學(xué)報;2016年16期

4 左月飛;劉闖;張捷;符慧;張濤;;永磁同步電動機轉(zhuǎn)速伺服系統(tǒng)PI控制器的一種新設(shè)計方法[J];電工技術(shù)學(xué)報;2016年13期

5 黃蘇融;何棟林;王爽;石堅;;基于擴(kuò)展Kalman濾波器的永磁同步電機轉(zhuǎn)動慣量辨識研究[J];電機與控制應(yīng)用;2015年12期

6 馬立新;范洪成;徐鎮(zhèn)乾;黃陽龍;周尚s�纾�

本文編號：1693077