【作者】 毋华丽；

【导师】 刘艳红；

【作者基本信息】 郑州大学 ， 控制理论与控制工程， 2013， 硕士

【摘要】 永磁同步电机具有高转矩电流比、高功率密度、环境适应性强、高效率、可靠性高等优点,在工业领域中具有广泛应用。但在永磁电机转速控制中存在内部模型摄动和外部干扰,目前广泛采用的双闭环PI控制器不能系统满足系统鲁棒性能的要求。采用现代鲁棒控制理论研究永磁同步电机的高性能控制问题具有重要的理论和实际价值。本文采用哈密顿系统方法,结合永磁同步电机的无源特性,对其鲁棒控制问题进行研究,从系统自身的物理特性出发设计控制器,主要研究内容包括：(1)考虑永磁同步电动机调速系统存在的模型摄动和外部扰动等不确定性因素,建立系统的不确定动态模型,分析系统的无源特性,完成系统的耗散哈密顿实现。(2)提出了一种基于哈密顿系统理论的双环路鲁棒控制方法。首先,从系统的物理特性出发将永磁同步电机的动态模型转化为等价的耗散哈密顿系统模型,然后在内环控制中通过结构矩阵和能量函数重构,实现了平衡点的配置和动态性能的改善。最后,在外环控制中根据哈密顿系统理论设计了鲁棒控制器,提高系统对负载扰动的鲁棒性。本文所提出的基于系统哈密顿实现的鲁棒控制方法充分利用了系统内在的结构特性,控制器结构简单,易于实现。与传统控制方案的仿真比较研究验证了本文所提鲁棒控制器的有效性。更多还原

【Abstract】 Permanent magnet synchronous motor has the advantage of high torque current ratio, strong environment adaptability, high efficiency, high reliability, high power density, et al. So far, permanent magnet synchronous motor has been widely applied in the industrial fields. During the speed control of permanent magnet motor, there are internal model perturbation and external disturbance, and the widely used double closed loop PI controller cannot meet the requirement of the system robustness. It is significant to utilize the modern robust control theory to improve the dynamic performance of permanent magnet synchronous motors. In this thesis, we use the Hamiltonian system method and the passivity property of the permanent magnet motor to investigate its robust control problem and design a robust controller which can utilize the internal structure of the system. The works done in the thesis can be summarized as follows:(1) Noting that permanent magnet synchronous motors always suffer to the disturbances of un-modeled dynamic and external world, we put forward an uncertain dynamic model of the system and discussed its passivity property. A dissipative Hamiltonian realization was completed as well.(2) We put forward a double-loop robust control the permanent magnet synchronous motors based on the Hamiltonian system theory. First, in the inner loop we design a feedback controller to realize the assignment of structure matrix, Hamiltonian function and equilibrium point and to enhance the dynamic performance of the system. Then, we put forward an outer loop robust controller to improve the robustness to external load disturbance.The robust controller proposed in the thesis can extensively utilize the internal structure of the permanent magnet synchronous motors, so the controller structure is simple and easy to complete. Simulation comparison with the traditional control scheme demonstrates the effectiveness of the proposed robust controller.更多还原