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基于模糊PID控制的永磁同步电机伺服系统研究
其他题名The PMSM Servo System Based on Fuzzy PID Controller
胡晓磊
学位类型工学硕士
导师谭民 ; 喻俊志
2009-05-27
学位授予单位中国科学院研究生院
学位授予地点中国科学院自动化研究所
学位专业控制理论与控制工程
关键词伺服系统 永磁同步电机 矢量控制 联合仿真 模糊pid控制器 模糊切换函数 Servo System Permanent Magnet Synchronous Motor Vector Control Co-simulation Fuzzy Pid Controller Fuzzy Switch Function
摘要本文的工作围绕永磁同步电机伺服系统的控制方面展开,主要涉及永磁同步电机矢量控制系统的具体实现、系统级仿真开发和模糊PID控制器设计,在理论分析、计算机仿真和具体实现三个方面进行了较深入的研究。 首先,在分析永磁同步电机数学模型的基础上,结合矢量控制的原理,确定了在DSP平台上的永磁同步电机矢量控制实现方案。采用空间矢量脉宽调制的逆变驱动技术,详细地分析了其原理,给出了具体的软硬件方案。 接着,根据永磁同步电机的空间矢量控制原理,提出了一种基于CCSLink的系统级仿真与开发的方法。在Matlab/Simulink环境下,通过构建合适的电机模块和DSP控制器模块,利用CCSLink工具进行仿真和验证,其控制代码可直接链接到DSP目标板上运行,这种联合开发方法可有效缩短电机控制系统的设计与调试周期,充分发挥基于DSP的电机控制的优势,进而保证所设计系统的高性能。 然后,提出了一种基于平滑切换的模糊PID控制的模糊切换算法,在此基础上设计了相应的模糊PID控制器,并将之应用于永磁同步电机伺服系统控制。该控制器同时具备模糊控制和PID控制的优点,切换平滑,加快了误差收敛的速度,提高了系统的动态性能并保证了系统的稳定性。 最后,对所开展的工作进行了总结,并指出了下一步可开展的研究工作。
其他摘要The control aspects of the permanent magnet synchronous motor (PMSM) servo system are investigated in this dissertation, which mainly involve the implementation of PMSM vector control system, the system-level co-simulation and development system, as well as a novel fuzzy PID controller. The validity of proposed methods is in-depth proved by theoretical analysis, numerical simulation and experiments. First of all,a scheme for vector control based on the DSP workbench is determined according to the mathematical model of the PMSM. Space vector PWM is then chosen among various inverting technologies, whose theories and realization is also presented. Secondly, a novel CCSLink-based approach to modeling and simulation of PMSM is proposed, with full consideration of the principle of vector control system applied to the PMSM. Effective simulation and verification, with the aid of CCSLink toolkit, can be achieved in the Matlab/Simulink environment by creating suitable motor module and DSP-based controller module. Meanwhile, control codes generated by CCSLink toolkit during simulations can directly be implemented on the DSP target board. The proposed co-development will reduce the R&D period of developing motor control system and capitalize the advantage of DSP-based motor control, therefore ensuring a high control performance. Thirdly, a novel fuzzy switch algorithm based on smooth switching is proposed and a fuzzy PID compound controller designed, which is adopted in the PMSM servo system. The controller endows advantages of both fuzzy controller and PID controller, accompanying with smooth transition, fast error convergence, enhanced dynamic performance as well as increased stability of the applied system. Finally, the obtained results are summarized and future work is addresses.
馆藏号XWLW1420
其他标识符200628014825041
语种中文
文献类型学位论文
条目标识符http://ir.ia.ac.cn/handle/173211/7502
专题毕业生_硕士学位论文
推荐引用方式
GB/T 7714
胡晓磊. 基于模糊PID控制的永磁同步电机伺服系统研究[D]. 中国科学院自动化研究所. 中国科学院研究生院,2009.
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