永磁同步交流伺服电机机电耦合动力学建模与仿真.pdfVIP

2008年7月 机床与液压 Ju1．2008 第36卷第7期 MACHINE TOOL＆ HYDRAULICS Vo1．36 No．7 永磁同步交流伺服电机机电耦合动力学建模与仿真 武建新 ，李强 ，张辉 (1．内蒙古工业大学机械学院，呼和浩特010050；2．清华大学精密仪器与机械学系，北京100084) 摘要：利用伺服电机参数，在建立电路和机械能量方程的基础上，应用拉格朗日一麦克斯韦方程，通过Park变换，将 三相定子参考系的拉格朗日一麦克斯韦方程变换到两相转子参考系。推导了便于实施控制的永磁同步伺服电机两相转子参 考系的机电耦合动力学方程。该机电耦联动力学建模方法不需测量电动机的磁路尺寸，只要测量电动机dq0坐标系绕组电 感和永磁体磁链的幅值就可直接列出微分方程，推导简洁高效，便于应用。通过对伺服电机机电耦合动力学的仿真，验证 了伺服电机的机电耦合动力学建模正确；电机的速度和电流控制器设计合理。 关键词：机电耦合系统；动力学；永磁同步电机 中图分类号：TH113．2 文献标识码：A 文章编号：1001—3881(2008)7—129—3 Modeling and Simulation of Electromechanical Coupling Dynamics for Permanent Magnet Synchronous AC Servomotor wu Jianxin ，LI Qiang ，ZHANG Hui (1．Mechanical School of Inner Mongolia University of Technology，Hohhot 0 10050，China； 2．Department of Precision Instruments and Mechanology，Tsinghua University，Beijing 100084，China) Abstract：Based on the established electrical and mechanical energy equations consisting of se~omotor parameters，Lagrange— Maxwell equations of three—phase stator reference coordinates were transformed to the equations of two—phase rotor reference coordinates by Park transform ． Electromechanical coupling dynam ics equations of permanent magnet synchronous servomotor in two—phase reference coordinates were obtained．In this dynamical modeling method of electromechanical coupling system，the dynamical differential equa- tions can be established by only measuring amplitude of the flux induced by the permanent magnets and the winding inductance in dq0 reference of the motor，the size of magnetic circuit needs not to be measured．The method is terse，efficient，and is easy to be used． Electromechanical coupling dynamics system of se~omotor was simulated．Simulation results show that the deduced electromechanical coup