永磁交流伺服系统及其先进控制策略研究-电力电子与电力传动专业论文.docx

哈尔滨工业大学工学博士学位论文 哈尔滨工业大学工学博士学位论文 Abstract Abstract - - PAGE VIII - - - III - 使用该方法进行控制器的参数优化设计具有算法简单，实现容易，收敛速度 快和寻优能力强等优点。 针对各种数字滤波算法以及传统的瞬时转速观测器无法保证在使用较低 分辨率码盘时电机低转速情况下的系统稳定性这一难题，提出了一种基于多 采样率预报观测器和多采样率现时观测器进行电机低转速的检测方法，并研 究了多采样率观测器的极点配置以及反馈增益的求取等问题。仿真和实验结 果证明多采样率观测器能够保证系统在低分辨率码盘时电机低转速下的稳定 性，提高了电机低转速的检测性能，拓宽了系统的调速范围。 关键词 永磁交流伺服系统；电流控制；死区补偿；微粒群优化算法；多采 样率观测器 Abstract With the rapid development of power electronic technology, micro-processor technology, rare-earth permanent magnet material technology and control theory, permanent magnet AC (PMAC) servo system, as an important drive part of the advanced automatic devices such as industrial robots and numerical control machines, has been developed to a high level of technology. The performance of the servo system is the pacing factor of the equipment running ability. Its application spreads in many fields of industrial application. Nowadays, most of the PMAC servo systems used in our country are imported from other countries. This situation restricts the development of our country’s robot, numerical control and factory automatic equipment. Digital PMAC servo system is the development mainstream of AC servo system. Sponsored by the National High Technology Research and Development Program of China (863 Program) and Delta Power Electronics Environmental Educational Foundation, PMAC servo system are detailed in two aspects of control strategies and system design. The investigated contents are shown as follows. The development on full digital PMAC servo system is carried out. A set of PMAC servo system with full digits based on DSP structure has been developed. The corresponding control mode, I/O interfaces and network communication function have been designed and developed according to the basic requirements of commercial servo pack. The menu interface of operational panel and its corresponding monitor software of host pc have been also designed. The new servo pack is helpful to the further research on PMAC servo system a