發(fā)布時(shí)間：2018-04-01 00:09

  本文選題：PMSM　切入點(diǎn)：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(jī)(PMSM)由于其高可靠運(yùn)行性能、高功率密度、控制較簡(jiǎn)單等特點(diǎn),廣泛應(yīng)用于高性能伺服控制領(lǐng)域,如工業(yè)機(jī)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(dòng)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(wú)法滿足控制精度的要求。因此,需要自適應(yīng)辨識(shí)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(shí)機(jī)械參數(shù)時(shí)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(shí)結(jié)果的準(zhǔn)確性,但對(duì)于大粘滯摩擦系統(tǒng),會(huì)導(dǎo)致轉(zhuǎn)動(dòng)慣量和負(fù)載辨識(shí)結(jié)果波動(dòng)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(shí)算法。利用該算法可以同時(shí)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(dòng)慣量、負(fù)載轉(zhuǎn)矩和摩擦系數(shù)的準(zhǔn)確辨識(shí)值,提高了對(duì)存在較大摩擦系統(tǒng)機(jī)械參數(shù)辨識(shí)的準(zhǔn)確性�；�于反步法設(shè)計(jì)的控制器實(shí)質(zhì)上是由kp調(diào)節(jié)器以及各補(bǔ)償項(xiàng)構(gòu)成,當(dāng)各項(xiàng)參數(shù)準(zhǔn)確時(shí)能夠精確補(bǔ)償,但對(duì)于永磁伺服系統(tǒng)來(lái)說(shuō),參數(shù)是未知的或者參數(shù)隨運(yùn)行環(huán)境改變,此時(shí)反步控制器無(wú)法精確補(bǔ)償,使系統(tǒng)誤差較大甚至失穩(wěn)。因此,本文對(duì)轉(zhuǎn)速環(huán)提出了自適應(yīng)反步控制,將辨識(shí)結(jié)果用于實(shí)時(shí)修正控制器參數(shù)以實(shí)現(xiàn)精確補(bǔ)償,提高系統(tǒng)魯棒性。傳統(tǒng)的未辨識(shí)摩擦系數(shù)的自適應(yīng)反步控制器會(huì)導(dǎo)致大粘滯摩擦系統(tǒng)的辨識(shí)結(jié)果波動(dòng)、無(wú)法穩(wěn)定收斂于真實(shí)值,從而設(shè)計(jì)了實(shí)時(shí)辨識(shí)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(shí)值,從而實(shí)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(jī)械參數(shù)的準(zhǔn)確辨識(shí)值,并實(shí)時(shí)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(shí)驗(yàn)平臺(tái)對(duì)所提算法進(jìn)行實(shí)驗(yàn)驗(yàn)證。控制方法結(jié)構(gòu)簡(jiǎn)單、易于實(shí)現(xiàn),適用范圍更廣,對(duì)于電流環(huán)參數(shù)的自適應(yīng)辨識(shí)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(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP273;TM341

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