交流伺服系统无时滞反馈高响应驱动控制研究
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摘要
高性能交流伺服系统作为高速高精密数控机床、高速数字化机械、集成电路制造和封装设备等的重要驱动装置,在现代化机电设备中得到广泛的应用。随着产品加工质量的要求越来越高,对交流伺服系统的性能要求也越来越苛刻。要获得高性能的交流伺服系统,必须研究先进的控制策略与控制方法。本文旨在研究高速、高响应、高精度和鲁棒性好的伺服驱动系统,为先进的机电一体装备提供高性能的驱动装置。
永磁同步电机需要精确度高、实时性好的电流及位置反馈支持它的闭环矢量控制。本文首先建立永磁同步电机的数学模型,研究存在反馈滞后的交流伺服系统离散控制模型,从理论上证明了反馈滞后严重影响系统的动态响应特性和稳态运行精度。然后,针对交流伺服系统的动态响应特性进行理论分析,为后续的研究工作奠定理论基础。
为了获得精确的、实时的系统状态变量,本文提出新型的无时滞位置和电流检测方法。针对位置反馈滞后问题,设计了传感器内嵌式位置检测方案,并研究新型的位置检测细分技术,实现了伺服系统的无滞后位置检测;基于此技术,构建了传感器内嵌式交流伺服硬件系统,从而实现了永磁同步电机、磁性传感器和驱动器的一体化设计。针对电流反馈滞后问题,引入电流状态观测器,并分析了离散化状态观测器的工作时序,通过仿真实验验证了电流状态观测器能够很好地实现无滞后电流检测。
在永磁同步电机矢量控制中,高精度高响应的电流控制可以降低系统阶数,使得外环控制器(速度控制或位置控制)设计无需考虑转子的动态,从而使设计得以简化。为了实现高精度高响应的电流控制,本文对数字化交流伺服系统的电流环控制进行了研究:分析数字电压滞后对电流响应的影响及数字电压控制的工作时序,得出脉宽调制的滞后相位并进行了超前补偿;采用改进型的脉宽调制控制技术,使得由传统脉宽调制技术引起的母线电压利用率低的问题得到改善,进一步提高了电流响应性能。
在实现电流高精度高响应控制的基础上,本文对数字化交流伺服系统的机械环控制进行了研究:分析传统速度环PI和IP的控制特性,综合两者的各自优缺点提出并设计了速度环PI-IP复合控制器,用以提高速度环的响应性能和抗干扰能力;基于指令前馈进行位置控制,并仿真验证了指令前馈对提高交流伺服系统响应跟踪性能的有效性;设计模型参考二自由度控制器,有效地保证系统的干扰抑制特性和目标值跟踪特性,最大程度减小外部干扰对闭环系统动静态性能的影响,实现了系统的高响应和稳定运行。
为了实现脱离硬件的控制参数优化,本文提出一种基于离散化电机模型的交流伺服仿真方案,并构建了数字化闭环仿真平台。基于该平台,结合参数优化算法实现了控制参数的优化。由于该闭环仿真平台的运行机理与实际系统严格一致,使得优化所得的控制参数与实际系统所需参数非常接近,从而大大缩短软件开发周期,同时也为后续的实验验证提供了有效依据。
最后,基于无时滞位置检测技术研制了传感器内嵌式交流伺服系统,并进行了实验研究。对文中提出的控制策略进行实验验证,同时对交流伺服系统的性能指标进行测试。结果表明,本文研制的交流伺服系统具备高速、高精度和高响应性能,可以满足各种先进机电设备的驱动性能指标要求。
High performance AC servo system, as an important drive part of high-speed and high-precision CNC machine tools, high-speed digital machines, integrated circuit IC manufacturing and packaging equipment, has been widely used in modern industry. With the higher standards of product, the performance demand of the AC servo is raised too. To obtain high-performance AC servo, it is necessary to do research on the advanced control strategy and control methods. The dissertation aims to do research on high-speed, high-response, high-precision and good-robustness AC servo system, and provide high performance servo drive system for advanced mechanical-electrical equipment.
It is necessary to obtain high-precision, real-time current and position feedback to the closed-loop control of PMSM. Firstly, mathematics model of PMSM is established, discrete control model of AC servo with feedback delay is studied based on it, and it is proved that feedback delay affects the performance of AC servo and impairs dynamic characteristics and stable state precision in theory, which has laid foundations for the next study.
To obtain the precise and real-time state variables of the PMSM control system position and current detection without delay are proposed. To the position feedback without delay, the detection plan with embedded sensor is designed, the new position subdivision technology is proposed and position detection without delay is realized; an integration of permanent magnet synchronous motor, combination hall magnetic ring and controller is realized based on the technology. To the current feedback without delay, current state observer is introduced; then its work timing is analyzed and the current detection without delay can be realized with experiment.
In the PMSM vector control system with precision and high-response current, the order of system is degraded, which simplifies the plan of outer loop controller(speed control or position control) because it is not thinking about rotor’s dynamic. To realize high-response and high-precision current control, the current loop of digital ac servo is studied: analyzing the influence of numeric voltage delay on current response and its control timing, calculating delay phase of PWM and compensating; introducing improved PWM, which improves the bus voltage utilization and current response performance.
In order to realize high-speed and high-response velocity and position control, the mechanical loop of permanent magnet synchronous motors research is expanded. By analyzing the traditional velocity loop PI and IP control features, and summarizing their advantages and disadvantages, a PI-IP complex control with weighting factor is proposed, and the responsiveness and anti-jamming capability of the velocity loop is improved. Instruction feed forward control had been taken detailed research, simulation and analysis had been taken to testify the validity of command feed forward controller, which improved the tracking response performance for AC servo system; but the problem of poor anti-interference ability are still existed. Basing on this point, two-degree-of-freedom control method basing on the model is introduced, so the disturbance rejection characteristics and target tracking performance of the system effectively are improved, the influences of external interference on closed-loop system dynamic and static properties are reduced and rapid response and stable operation is realized.
In order to realize the control parameter selection and optimization which completely disengage from hardware, a closed-loop simulation scheme which based on discrete motor model for AC servo system to be proposed and the digital closed-loop simulation platform is also realized. Based on the platform, combined with parameter optimization algorithm, the selection and optimization of control parameters is realized. Since the operation principle of closed-loop simulation platform is consistent with the actual system, it made simulation optimization control parameters closer to the actual value of the system. It could manifest shorten the software develop period.
Finally, the integration permanent magnet AC servo system is developed, and the control strategy proposed in this dissertation is also tested by experiment, and the performance index for permanent magnet synchronous motor servo system is obtained at the same time. The experiment result illustrated that the high speed integration permanent magnet AC servo system possess the performance of high speed, high response and high reliability, it establishes a stability foundation for supplying high performance AC servo drive system to mechanical-electrical equipment.
永磁同步电机需要精确度高、实时性好的电流及位置反馈支持它的闭环矢量控制。本文首先建立永磁同步电机的数学模型,研究存在反馈滞后的交流伺服系统离散控制模型,从理论上证明了反馈滞后严重影响系统的动态响应特性和稳态运行精度。然后,针对交流伺服系统的动态响应特性进行理论分析,为后续的研究工作奠定理论基础。
为了获得精确的、实时的系统状态变量,本文提出新型的无时滞位置和电流检测方法。针对位置反馈滞后问题,设计了传感器内嵌式位置检测方案,并研究新型的位置检测细分技术,实现了伺服系统的无滞后位置检测;基于此技术,构建了传感器内嵌式交流伺服硬件系统,从而实现了永磁同步电机、磁性传感器和驱动器的一体化设计。针对电流反馈滞后问题,引入电流状态观测器,并分析了离散化状态观测器的工作时序,通过仿真实验验证了电流状态观测器能够很好地实现无滞后电流检测。
在永磁同步电机矢量控制中,高精度高响应的电流控制可以降低系统阶数,使得外环控制器(速度控制或位置控制)设计无需考虑转子的动态,从而使设计得以简化。为了实现高精度高响应的电流控制,本文对数字化交流伺服系统的电流环控制进行了研究:分析数字电压滞后对电流响应的影响及数字电压控制的工作时序,得出脉宽调制的滞后相位并进行了超前补偿;采用改进型的脉宽调制控制技术,使得由传统脉宽调制技术引起的母线电压利用率低的问题得到改善,进一步提高了电流响应性能。
在实现电流高精度高响应控制的基础上,本文对数字化交流伺服系统的机械环控制进行了研究:分析传统速度环PI和IP的控制特性,综合两者的各自优缺点提出并设计了速度环PI-IP复合控制器,用以提高速度环的响应性能和抗干扰能力;基于指令前馈进行位置控制,并仿真验证了指令前馈对提高交流伺服系统响应跟踪性能的有效性;设计模型参考二自由度控制器,有效地保证系统的干扰抑制特性和目标值跟踪特性,最大程度减小外部干扰对闭环系统动静态性能的影响,实现了系统的高响应和稳定运行。
为了实现脱离硬件的控制参数优化,本文提出一种基于离散化电机模型的交流伺服仿真方案,并构建了数字化闭环仿真平台。基于该平台,结合参数优化算法实现了控制参数的优化。由于该闭环仿真平台的运行机理与实际系统严格一致,使得优化所得的控制参数与实际系统所需参数非常接近,从而大大缩短软件开发周期,同时也为后续的实验验证提供了有效依据。
最后,基于无时滞位置检测技术研制了传感器内嵌式交流伺服系统,并进行了实验研究。对文中提出的控制策略进行实验验证,同时对交流伺服系统的性能指标进行测试。结果表明,本文研制的交流伺服系统具备高速、高精度和高响应性能,可以满足各种先进机电设备的驱动性能指标要求。
High performance AC servo system, as an important drive part of high-speed and high-precision CNC machine tools, high-speed digital machines, integrated circuit IC manufacturing and packaging equipment, has been widely used in modern industry. With the higher standards of product, the performance demand of the AC servo is raised too. To obtain high-performance AC servo, it is necessary to do research on the advanced control strategy and control methods. The dissertation aims to do research on high-speed, high-response, high-precision and good-robustness AC servo system, and provide high performance servo drive system for advanced mechanical-electrical equipment.
It is necessary to obtain high-precision, real-time current and position feedback to the closed-loop control of PMSM. Firstly, mathematics model of PMSM is established, discrete control model of AC servo with feedback delay is studied based on it, and it is proved that feedback delay affects the performance of AC servo and impairs dynamic characteristics and stable state precision in theory, which has laid foundations for the next study.
To obtain the precise and real-time state variables of the PMSM control system position and current detection without delay are proposed. To the position feedback without delay, the detection plan with embedded sensor is designed, the new position subdivision technology is proposed and position detection without delay is realized; an integration of permanent magnet synchronous motor, combination hall magnetic ring and controller is realized based on the technology. To the current feedback without delay, current state observer is introduced; then its work timing is analyzed and the current detection without delay can be realized with experiment.
In the PMSM vector control system with precision and high-response current, the order of system is degraded, which simplifies the plan of outer loop controller(speed control or position control) because it is not thinking about rotor’s dynamic. To realize high-response and high-precision current control, the current loop of digital ac servo is studied: analyzing the influence of numeric voltage delay on current response and its control timing, calculating delay phase of PWM and compensating; introducing improved PWM, which improves the bus voltage utilization and current response performance.
In order to realize high-speed and high-response velocity and position control, the mechanical loop of permanent magnet synchronous motors research is expanded. By analyzing the traditional velocity loop PI and IP control features, and summarizing their advantages and disadvantages, a PI-IP complex control with weighting factor is proposed, and the responsiveness and anti-jamming capability of the velocity loop is improved. Instruction feed forward control had been taken detailed research, simulation and analysis had been taken to testify the validity of command feed forward controller, which improved the tracking response performance for AC servo system; but the problem of poor anti-interference ability are still existed. Basing on this point, two-degree-of-freedom control method basing on the model is introduced, so the disturbance rejection characteristics and target tracking performance of the system effectively are improved, the influences of external interference on closed-loop system dynamic and static properties are reduced and rapid response and stable operation is realized.
In order to realize the control parameter selection and optimization which completely disengage from hardware, a closed-loop simulation scheme which based on discrete motor model for AC servo system to be proposed and the digital closed-loop simulation platform is also realized. Based on the platform, combined with parameter optimization algorithm, the selection and optimization of control parameters is realized. Since the operation principle of closed-loop simulation platform is consistent with the actual system, it made simulation optimization control parameters closer to the actual value of the system. It could manifest shorten the software develop period.
Finally, the integration permanent magnet AC servo system is developed, and the control strategy proposed in this dissertation is also tested by experiment, and the performance index for permanent magnet synchronous motor servo system is obtained at the same time. The experiment result illustrated that the high speed integration permanent magnet AC servo system possess the performance of high speed, high response and high reliability, it establishes a stability foundation for supplying high performance AC servo drive system to mechanical-electrical equipment.
引文
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