【作者】 奚正平；

【导师】 李耀华；

【作者基本信息】 中国科学院研究生院（电工研究所） ， 电力电子及电力传动， 2003， 硕士

【摘要】 本论文在进行了以DSP为核心控制芯片的全数字交流永磁同步电机(PMSM)伺服系统仿真软件设计的基础上，提出了采用Kalman滤波观测器提高系统速度控制性能的方法。论文首先介绍了国内外对伺服系统的研究情况。全数字化是现代伺服系统不断追求的目标，也是本论文研究工作的指导思想。为了满足高性能交流伺服的需要，必须采用闭环控制的方式。本文以交流永磁同步电机为控制对象，从控制原理、控制方案确定等方面入手，建立了交流伺服系统的双闭环结构数学模型，并通过仿真对系统进行了分析。作为目前最先进的单片微处理器，DSP芯片功能强大、执行速度快、性能稳定可靠，在伺服系统领域有着广泛的应用前景。本文设计了基于DSP56F805，由速度和电流反馈控制回路构成的伺服系统实时仿真软件，并给出了其设计和编制过程。由于光电编码器的使用，位置信号的部分信息在数据采集的过程中丢失，使得电机转动不稳定，因此有必要对测得的位置信息进行处理。本文利用Kalman滤波器，对信号进行滤波。同时针对滤波器对电机参数变化敏感的特性，以及增强系统鲁棒性的需要，引入增广最小二乘递推算法(RELS)，根据滤波的结果，辨识电机机械参数的变化，并对速度控制器增益和滤波器参数进行修正。计算机仿真和实验结果表明，论文提出的方法是切实可行的，其动态控制效果是令人满意的。同时，本方法的研究，对提高伺服系统的性能具有一定的参考价值和实用意义。更多还原

【Abstract】 An emulation software of a fully digital PMSM servo system with DSP as its kernel controller is studied in this paper. To improve the performance of the system, an observer using Kalman filter is also proposed.The paper first introduces the research work that has been done home and abroad on the servo system. Fully digital system has always been the goal to pursue in the field of servo system and provided fundamental impetus to the research work done in this paper.To achieve a good performance both statically and dynamically, closed loop control method has to be applied. Using permanent magnet synchronous motor as the controlled object, this paper establishes two-closed-loop model of the PMSM servo system by computer simulation based on the selection of the control theory and the control method.Being the most state-of-the-art single-chip microprocessor, DSP exhibits a superior functionality, high processing speed and reliable performance, and therefore has a wide application prospect in the field of servo system. This paper illustrates the emulation software architecture of the system based on DSP56F805. The design and implementation of the speed and current feedback loop are described in detail.Some information of the position is lost during the data sampling due to the optical encoder. As the result, the smooth of the rotation is degraded, so it is necessary to deal with the data. This paper uses Kalman filter to process the signal. At the same time, the recursive extended least squares (RELS) parameter identification method identifies the variations of mechanical parameters, and the estimated parameters are used to modify the gain of the speed controller.Computer simulation and experimental results are presented, from which the algorithm is proved to be feasible. Moreover, the study of the paper has a certain role on promoting the performance of the servo drivers.更多还原