【作者】 谢祖林；

【导师】 陈三宝；

【作者基本信息】 武汉理工大学 ， 控制理论与控制工程， 2006， 硕士

【摘要】 随着现代化工业的不断发展,伺服系统在许多领域的应用日益广泛,对其性能要求也越来越高。系统不但要具有快的动态响应和高的动、静态精度,而且要对参数的变化和扰动具有不敏感性。因此,高性能伺服控制技术的研究和产品开发将具有很大潜力。 滑模控制对系统模型不精确和外部扰动具有较强的鲁棒性,因此获得了广泛应用。但滑模控制的非连续切换带来的高频抖振现象却成为限制其应用的主要障碍。模糊控制作为利用专家知识和经验的有效方法,特别适用于复杂、非线性、时变的系统,但大多数模糊控制系统缺少保证系统性能的分析方法。将模糊控制与滑模控制相结合可实现模糊滑模控制。在这种混合控制中,滑模控制用来克服模型不精确和扰动的影响,而模糊控制用来消除抖振。 本文研究的是以永磁同步电动机为执行元件的交流伺服系统,主旨为设计与发展利用模糊滑模控制方法进行永磁同步电动机的矢量控制。文章首先对永磁同步电动机的数学模型和矢量控制策略进行了分析,指出了传统控制的不足之处。然后在此基础上提出了滑模控制方案,并应用一种简单的自适应法则来估测系统不确定量的边界值,从而完成了滑模控制器的方案设计。最后通过自适应模糊控制来估测系统不确定量的边界值,模糊控制器参数由自适应算法在线调节,从而使得系统不仅具有抗干扰性而且实现了控制参数的优化调节,实现具有完全自适应能力的高性能交流伺服系统。更多还原

【Abstract】 High performance AC servo drive system, widely used in various areas, is demanded with the development of modern industrialization. The system should not only have the fast dynamic response and transient and steady precision, but also don’t have sensitivity to the variation of parameters and disturbance. Therefore, high performance AC servo drive controller system and its products must have great potential.Sliding mode control (SMC) has for long been known for its robust in accounting for modeling imprecision and bounded disturbances.However, in SMC, the high frequency chattering phenomenon become a severe problem in practice. Fuzzy logic control (FLC) has excelled in dealing with systems that are complex, non-linear, or time-varying as it convert the linguistic control strategy of human experience or experts’ knowledge into an automatic control strategy. However, the major drawback of FLC is the lack of design techniques. Merging of the FLC with SMC can form a Fuzzy Sliding Mode Controller. In this hybrid control system, the strength of the sliding mode control lies in its ability to account for modeling imprecision and external disturbances while the FLC provides better damping and reduced chattering.This paper studies an AC servo system with the Permanent Magnet Synchronous Motor (PMSM) as the executive component and focus on the design and development of fuzzy sliding mode vector control system. First, by analyzing the mathematical models of the PMSM and the vector control strategy, we find out the disadvantages of the conventional methods. Then, an adaptive sliding mode control is proposed. An adaptive algorithm is utilized to estimate the bound of uncertainty. At last, an adaptive fuzzy sliding mode control is proposed. The fuzzy inference mechanism is utilized to estimate the bound of uncertainty. And the parameters of fuzzy inference mechanism are on-line tuned through an adaptive algorithm. Therefore the control system can achieve not only robust but also optimized parameters. So a high performance AC servo drive system is achieved which has full adaptive capability.更多还原