永磁同步电机系统仿真(5)

[19] 李志民，张遇杰等．同步电机调速系统[M]．北京 ：机械工业出版社 ，1996． [20] 刘军，俞金寿．永磁同步电机控制策略[J]．上海电机学院学报，2007，10(3)：180-85． [21] 顾绳谷．电机及拖动基础[M]．北京：机械工业出版社，2000，194-195． [22] 刘永飘．基于DSP的永磁交流伺服控制系统开发[D]．西安理工大学，2006． [23] 刘利超．永磁同步电机交流伺服控制系统的研究与设计[D]．华北电力人学，2007． [24] Takahashi I, Noguchi T. A new quick-response and high-efficiency control strategy of an

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永磁同步电机参数：

名 称 定子绕组电阻 d轴定子绕组电感 q轴定子绕组电感 转子磁场磁通 转动惯量 摩擦系数 极对数

参 数 R=2.8750Ω Ld=8.5e-3H Lq=8.5e-3H ΨPM=0.175Wb J=0.0008kg·m2 B=0.001N·m·s P=4

Abstract

Comparing with other motors, permanent magnet synchronous motor (PMSM) has its own excellent control properties, and has been applied to social activities popularly. What＇s more, there are quite abundant natural resources about the rare earth of permanent magnet in our country, which makes the research of PMSM＇s control very important. This article studies the control strategy of PMSM, which offers enough theoretical basis to practical application.

The article analyzes the structure and characteristic of PMSM, and introduces three common coordinate series and the relationship of their mutual transformation in the PMSM＇s control. Moreover, it provides mathematical models of PMSM under the different coordinate series, especially introduces the mathematical mode under d-q coordinate series. On this basis, it takes the vector control principle to the permanent magnetism synchronous motor. Under MATLAB/SIMULINK, the simulation models of system are separately constructed and simulated. The simulation model using the

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MATLAB/SIMULINK toolbox will be able to provide the full theory basis to the actual system design.

This thesis does the main work as follows: Firstly introduces the structure, classification and characteristic of the permanent magnetism synchronous machine under different coordinate system; Subsequently has discussed the vector control principle on permanent magnetism synchronous machine, reasonably divided the control system each function module, constructed the permanent magnetism synchronous machine vector closed-loop control simulation model, obtained the simulation result.

Keywords： Permanent magnetism synchronous motor; Vector control;

Mathematics modeling; Simulation

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目 录

摘 要 .................................................................................... 错误！未定义书签。 Abstract ....................................................................................... 错误！未定义书签。 第1章 绪论 ................................................................................................................. I

1.1 课题研究的背景 ............................................................................................ I

1.1.1 永磁同步电机的发展状况 ................................................................. I 1.1.2 永磁同步电机控制系统的发展 ......................................................... I 1.1.3 计算机仿真技术的发展 ................................................................... III 1.2 本文主要工作 .............................................................................................. III 第2章 建模与仿真 .................................................................................................. IV

2.1 建模与仿真的定义 ..................................................................................... IV 2.2 实际系统 ..................................................................................................... IV 2.3 模型与建模关系 ........................................................................................... V 2.4 仿真关系 ..................................................................................................... VI 2.5 建模与仿真工作内容 ................................................................................. VI 2.6本章小结 ..................................................................................................... VII 第3章 永磁同步电机结构及其数学模型 ............................................................ VIII

3.1 永磁同步电动机的概述 ........................................................................... VIII

3.1.1 同步电机的基本原理 .................................................................... VIII 3.1.2 永磁同步电机的基本结构 ............................................................ VIII 3.1.3 永磁同步电机的分类 ...................................................................... IX 3.1.4 永磁同步电机的特点与应用 ............................................................ X 3.2 永磁同步电机数学模型 ............................................................................ XII

3.2.1 电压平衡方程 ................................................................................. XII 3.2.2 磁链方程 ........................................................................................ XIII 3.2.3 感应电动势 .................................................................................... XIII 3.3 坐标变换 .................................................................................................... XV

3.3.1 三相静止坐标系(A-B-C轴系) ..................................................... XVI 3.3.2 两相静止坐标系(α-β轴系) .......................................................... XVI 3.3.3 两相旋转坐标系(d-q轴系) .......................................................... XVI 3.3.4 三相静止坐标系与两相静止坐标系间的变换(3s/2s) ............... XVII

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3.3.5 两相静止坐标系与两相旋转坐标系间的变换(2s/2r) ............... XVIII 3.4 永磁同步电机在各个坐标系下的数学模型 .......................................... XIX

3.4.1 永磁同步电机A-B-C坐标系下数学模型 .................................. XIX 3.4.2 永磁同步电机α-β坐标系下数学模型 ........................................ XXI 3.4.3 永磁同步电机d-q坐标系下数学模型 ....................................... XXII 3.5 本章小结 ................................................................................................. XXV 第4章 永磁同步电机的矢量控制系统 ............................................................. XXVI

4.1 永磁同步电机的控制策略及仿真 ........................................................ XXVI

4.1.1 矢量控制(SVPWM) .................................................................... XXVI 4.1.2 直接转矩控制(DTC) ................................................................. XXVII 4.1.3 基于空间矢量调制的直接转矩控制(SVM-DTC) ................... XXVII 4.1.4 模型参考自适应控制(MRAS) ................................................. XXVII 4.1.5 基于状态观测器控制 .............................................................. XXVIII 4.1.6 智能控制 .................................................................................. XXVIII 4.2 永磁同步电机矢量控制的理论基础 ................................................. XXVIII

4.2.1 永磁同步电机磁场定向矢量控制的基本原理 ...................... XXVIII 4.2.2 永磁同步电机的矢量控制方法的选择 ..................................... XXXI 4.3 MATLAB仿真工具箱简介 ................................................................... XXXI 4.4 永磁同步电机矢量控制仿真模块的建立 .......................................... XXXII

4.4.1 坐标变换模块 .......................................................................... XXXIII 4.4.2 SVPWM模块 ............................................................................ XXXIII 4.4.3 逆变器模块 ............................................................................ XXXVII 4.5 仿真研究 .......................................................................................... XXXVIII 4.6 本章小结 .................................................................................................. XLII 第5章 全文总结 ................................................................................................. XLIV 参 考 文 献 .......................................................................................................... XLV 致 谢 .................................................................................... 错误！未定义书签。 附 录 .............................................................................................................. XLVII

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