基于等价输入干扰估计器的永磁同步伺服系统的设计与实现-控制理论与控制工程专业论文.docxVIP

Abstract Abstract Along with the application of rare earth permanent magnet materials ，and the fast development of power electronics，micro-computers ，and modem control the。可permanent magnet synchronous motor ( PMSM ) has been widely applied as an ac阳ator in motion control system of medium or low capacity. Compared with the i.nduction motor，pemlanent magnet synchronous motor has some advantages such as quick torque response ，no rotor loss because of its structure and operating characteristics. However，advanced control theo叩 must be applied to improve the control accuracy and anti-jam ing capabílíty affected by motor parameters variation ，external load disturbance and other factors，which is the focus of this study. The main contents of the article are as follows: Firstly，the mathematic model of PMSM is analyzed based on the study of its structure， and vector control system is constructed on the model ip the DQ coordinate system-The system simulation results show the effectiveness of vector control on the motor model; then the nonlinear model in the DQ coordinate system is exact 1inearized into linear model using differential geomet叩theory. Considering that outside interference is inevitable for the system， nonlinear PID controller is designed ，and also full-dimensional state observer and equivalent input disturbance estimator is constructed in order to ínhíbit unknown disturbance with the real system. 丁he state observer and control1er can be designed independently for satisfying separation principle. Through state observer，the equivalent input disturbance estimator can inhibit distllrbance by transforming unknown disturbance into disturbance in system input channel. Finally，a high-precisíon permanent magnet synchronous servo system experimental program is constructed on dSPACE，the simulation results prove the feasibility of this system design method. Keywords: Pennanent magnet synchronous motor; equivalent input di