摘要
本文研究的是基于DSP的永磁同步电机(PMSM)交流伺服系统的控制方法,首先介绍了永磁同步电动机的特性和当前的控制方法,在参考当前国内外研究文献的基础上,研究了滑模变结构控制、模糊控制及结合二者优势深入研究了模糊滑模变结构控制在交流伺服系统PMSM的应用。通过MATLAB软件的仿真试验分析了滑模变结构控制存在的缺陷即抖振带来的危害,指数趋近率可以有效地减弱抖振带来的不良影响,但不是消除抖振的控制策略;因此,在此基础上,分析了模糊控制的优点,应用于现代交流调速中,它可以不完全依赖于PMSM的精确数学模型,能够克服非线性因素的影响等;在不影响滑模变结构控制的优势即具有快速响应、对参数变化和扰动不灵敏、无需系统在线辨识、实现简单等;通过专家经验知识消除抖振,从而达到彻底解决抖振带来的危害。由于二者对控制对象的参数变化和扰动都具有较强的鲁棒性,因此二者相结合的方法应用于交流电机调速系统中具有广阔的前景。尤其是应用这些特点可以很好地针对交流电机多输入、多输出、非线性、强耦合的时变系统,解决传统控制方法不能解决的问题。
以上所有的这些控制都是建立在计算机高速发展的当今时代,数字信号处理器(DSP)是微电子、数字信号处理和计算机技术学科综合研究的成果。特别是伺服控制领域中,现代控制理论与全数字化控制技术相结合,成为高性能伺服控制系统发展的必由之路。DSP以其高速计算能力和特殊的硬件结构已经在许多应用系统中取代了工控机和单片机,成为控制系统的核心。本文参考了TI公司生产的TMS320C2000系列有关技术资料,选用TMS320LF2407A控制芯片设计硬件试验平台进行空间矢量控制技术的研究,它提供了一套针对C2XX的集成开发环境为CC的应用软件,在此集成环境下用C语言编写程序,程序包括初始化程序、主循环程序、磁场定向实时矢量控制的下溢中断子程序、电流电压采样ADC中断子程序,PID控制和模糊滑模控制程序,对这些程序进行试验调试,达到应用实际工程的目的。
The PMSM AC servo system control method based on DSP is studied in this paper. First, the characteristics and modern control ways are introduced. Based on the reference in domestic and foreign, the sliding mode variable structure control and fuzzy control are analyzed. Combing their advantages, the fuzzy sliding variable structure control in application of PMSM is introduced. The limitation in sliding mode variable control is the harm brought by chattering. That's simulated by Matlab software. The bad effect is reduced by exponent reaching law, but it's not a control law resolving chattering. So the advantage of fuzzy control is analyzed and it's applied in modern AC variable speed control. Fuzzy control is not completely dispensable to the accurate model of PMSM. Moreover, it can overcome the influence of nonlinear factor. Furthermore, it's with fast reaction, insensitive to disturbance and it doesn't need online identification. The chattering is cleared by expert experience, thus resolving the harm brought by chattering. Because the strong robustness to changeable parameters and disturbance, the sliding mode variable control combined with the fuzzy control will be widely used in AC motor variable speed control system. It can resolve the problem the traditional control can't do, especially for multiple input, multiple output, nonlinear and strong coupling in time varying system. The control way above is used in modern times, the DSP is the result of microelectronics, digit signal process and computer technique. In servo control field, modern control theory with full digital control technique is the essential way for high performance servo control system. For the high speed calculating ability and particular hardware structure, DSP have taken place of computer and single-chip computer in many application systems. After learning the material about TMS320C2000 produced by TI company, the space vector control technique is studied by using TMS320LF2407A to design the hardware test platform. It provides the application software called CC to the C2XX integrated environment. The program is compiled by C language in this environment.
The programs includes initial program, main cycle program, overflow program of magnetic field oriented control ,voltage and current sampling ADC interruption subprogram, PID control and fuzzy sliding mode control program. After the test, it can be applied in pratical projects.
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