永磁同步电机伺服系统的仿真研究

永磁同步电机伺服系统的仿真研究

摘 要

永磁同步电机具有结构简单、体积小、转矩电流比高、易于散热及维护等优点，在中小功率、高精度、宽调速范围的伺服控制系统中，永磁同步电动机引起了众多研究与开发人员的青睐，其应用领域逐步推广，尤其在航空航天、数控机床、机器人等场合获得广泛的应用。所以，研究永磁同步电机伺服系统具有重要的意义。

论文针对永磁同步电机基于转子磁链定向矢量控制数学模型，分析矢量控制原理，确立基于id=0的转子磁场定向的矢量控制方案。经过一系列的坐标变换，将电机的转子磁链和转矩解耦，分别对定子电流的励磁分量和转矩分量进行控制，并经过PI调节、电压空间矢量PWM控制实现双闭环控制系统。针对永磁同步电机伺服系统，给出电流、速度、位置等调节器的设计方法，对伺服控制需解决的一些主要问题，给出相应的解决办法。建立伺服系统的仿真模型，运用Matlab中的SIMULINK进行仿真研究给出部分结果，分析相应的结果，得到结论。

结论表明,仿真结果和实际理论相一致，通过仿真更好地理解了矢量控制原理，验证SVPWM控制理论实验方法的正确性，从而为系统的实际应用提供依据。

关键词 永磁同步电机；伺服系统；Matlab仿真；SVPWM

I

Simulation Research of Permanent Magnet Synchronous Motor

servo system Abstract

Permanent magnet synchronous motor has the advantages of simple structure, small volume, high torque current ratio, and the advantages of easy to heat and maintain。In the medium and small power, high precision, wide speed range of servo control system of permanent magnet synchronous motor caused the favour of many research and development personnel, to achieve widespread application its application domain gradually promotion, especially in the aerospace, nc machine tools, robots, etc. So, the study of permanent magnet synchronous motor servo system has important significance.

This paper for permanent magnet synchronous motor based on rotor flux orientation vector control mathematical model, analysis of vector control principle, based on id = 0 of the rotor field-oriented vector control scheme. After a series of coordinate transformation, the motor rotor flux and torque decoupling, respectively of stator current excitation and torque component to control, and pass by PI regulation, voltage space vector PWM control to realize double closed loop control system. For permanent magnet synchronous motor servo system, current, speed, location and the design methods of controller and the servo control to tackle some of the main problems, corresponding solutions are given. Servo system of the simulation model is established, using the SIMULINK of Matlab simulation research shows some results, analysis of the corresponding results, come to a conclusion.

Conclusion shows that the simulation results and the actual theory, through the simulation to better understand the vector control principle, verify the correctness of the theory of SVPWM control method, which provide the basis for system software programming.

Keywords PMSM; Servo systems; Matlab simulation;SVPWM

II

目录

引言 ............................................................................................................................................ 1 绪论 ............................................................................................................................................ 2

1.1课题背景及研究意义 ................................................................................................... 2 1.2 国内外永磁同步电机伺服系统的现状 ...................................................................... 2 1.3 永磁交流伺服系统的技术进展 .................................................................................. 3 1.4 本文的主要研究内容 .................................................................................................. 5 第2章 永磁同步电机及其数学模型 ...................................................................................... 6

2.1 永磁同步电机的结构和分类 ...................................................................................... 6 2.2 永磁同步电机的数学模型 .......................................................................................... 7 2.3 永磁同步电机矢量控制策略 ...................................................................................... 9 2.4 基于id=0的转子磁链定向控制 ............................................................................... 11 2.5 本章小结 .................................................................................................................... 12 第3章 永磁同步电机的伺服系统 ........................................................................................ 13

3.1 永磁同步电机伺服系统的设计 ................................................................................ 13 3.2 电压空间矢量PWM技术 ......................................................................................... 18 3.3本章小结 ..................................................................................................................... 22 第4章 PMSM磁场定向控制系统的MATLAB仿真 ....................................................... 23

4.1 MATLAB及其工具箱简介 ...................................................................................... 23 4.2 PMSM和测量模块 ..................................................................................................... 23 4.3速度和电流调节模块 ................................................................................................ 24 4.4电压坐标变换模块 ..................................................................................................... 24 4.5 SVPWM仿真模型的建立 ......................................................................................... 25 4.6电流变换模块 ............................................................................................................. 29 4.7 控制系统仿真模型的建立 ........................................................................................ 29 4.8 本章小结 .................................................................................................................... 31 结论与展望 .............................................................................................................................. 32 致 谢 ...................................................................................................................................... 33 参考文献 .................................................................................................................................. 34 附录A：外文参考文献及翻译 .............................................................................................. 35 附录B 主要参考文献的题录及其摘要 ................................................................................ 40

III

插图清单

图2- 1永磁同步电机的分类 .................................................................................................... 6 图2- 2 三相静止坐标 ............................................................................................................... 7 图2- 3两相静止坐标系 ............................................................................................................ 7 图2-4 永磁同步系统伺服系统控制方案 .............................................................................. 12 图3-1 伺服系统三闭环动态结构图 ...................................................................................... 13 图3-2速度环动态结构图 ....................................................................................................... 16 图3- 3位置伺服系统动态结构图 .......................................................................................... 17 图3- 4 三相电压源逆变器模型 ............................................................................................. 19 图3- 5 A，B，C三桥臂等效电 .......................................................................................... 19 图3- 6 基本电压空间矢量 ..................................................................................................... 21 图3- 7 合成新矢量的坐标关系 ............................................................................................. 21 图4- 1 永磁同步电机、逆变器和测量模块模型 ................................................................. 24 图4- 2 PI 调节器模块 ............................................................................................................ 24 图4- 3 Park逆变换模块 ......................................................................................................... 25 图4- 4 SVPWM内部模块结构图 .......................................................................................... 25 图4- 5扇区判断模块 .............................................................................................................. 26 图4- 6 X、Y、Z计算模块 ..................................................................................................... 27 图4- 7 T1、T2时间计算模块 ................................................................................................ 27 图4- 8 开通时间计算模块 ................................................................................................... 28 图4- 9 PWM生成模块 ........................................................................................................... 28 图4- 10 abc/dq轴坐标变换模型 ............................................................................................ 29 图4- 11 基于 SVPWM 的永磁同步电矢量控制仿真系统 ................................................ 29 图4- 12 SVPWM扇形判断模型 ............................................................................................ 30 图4- 13 SVPWM切换点Tcm波形 ....................................................................................... 30 图4- 14 转速阶跃响应曲线 ................................................................................................... 30 图4- 15 转矩响应波形 ........................................................................................................... 31 图4-16 定子电流波形 ............................................................................................................ 31

IV

表格清单

表3- 1 关状态与电压间的关系 ............................................................................................. 19 表3- 2 开关状态与相电压和线电压的关系 ......................................................................... 20 表3- 3 七段式SVPWM生成方案基本矢量选择和开关顺序 ................................................. 22 表4- 1各扇区与N的对应关系 ............................................................................................. 26 表4- 2 扇区与向量作用时间关系 ......................................................................................... 26 表4- 3 不同扇区导通时刻表 ................................................................................................. 28

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