永磁同步电机伺服系统的PID控制器优化设计

永磁同步电机伺服系统的PID控制器优化设计(论文15000字)
摘要
近代工业化进程的不断推进，促进着电机不断地更新换代，而电机的更新换代，又不断的推动着工业化的发展。随着近些年来，全球各国对于高精尖技术的需求越来越强，迫使电机及其伺服控制的相关技术必须再一次进行革新。
永磁同步电机（PMSM）结构简单、运行稳定、维护方便、不易受环境影响，非常适合作为新一代的电机应用于工业机器人、航空航天、武器装备制造等高精尖技术生产场合。在使用传统方法整定PMSM驱动系统的PID控制器时，由于传统PID参数整定算法本身的局限性及其对实际应用经验的依赖性，很难同时兼顾到多项控制性能指标，所以使用传统方法设计的PID控制器往往难以获得优良的控制性能，很难满足高精度伺服系统的控制需求，因此研究便捷有效的PID参数整定方法，对于提高永磁同步电机伺服系统的控制性能显得尤为重要。
本文针对 的矢量控制永磁同步电机伺服系统，分析并建立了电机的转速-电流双闭环控制的传递函数模型，之后基于此传递函数模型对转速外环的PI控制器进行了优化设计，该方法克服了传统PID参数整定算法灵活性差，整定参数难以优化调整的缺点，提高了PID控制器的综合控制性能。基于MATLAB/Simulink软件建立了系统仿真模型，对采用传统PI控制器以及优化设计的PI控制器的电机伺服系统进行了对比控制仿真，仿真结果表明，优化设计的PI控制器的性能优于传统Z-N法整定的PI控制器。

关键词：PMSMPI控制器参数整定PSO收缩因子 
Abstract
The continuous advancement of modern industrialization promotes the continuous renewal of the motor. In recent years, the global demand for highly sophisticated technology has become increasingly strong, forcing a renewed innovation in the technology related to motors and their servo control.
Permanent magnet synchronous motor (PMSM), due to its simple structure, stable operation, convenient maintenance and less environmental impact, It is very suitable for use as a new generation motor in industrial robotics, aerospace, weapons and equipment manufacturing and other high precision technology production applications. Permanent magnet synchronous motor servo system is currently more than half of the traditional PI controller for control, but the traditional PI controller design due to the limitations of the algorithm itself and the dependence on practical application experience, it is difficult to take into account a number of control performance indicators, so it is difficult to achieve excellent control results simply by using a PI controller designed using the traditional PI tuning method. that is to say, the traditional PI control is difficult to meet the precision control requirements of high-precision technology production, so it is particularly important to study more advanced control algorithm and apply it to PMSM servo system.
In this paper, based on the  -based permanent magnet synchronous motor servo system speed-current double closed-loop control model, the transfer function model was analyzed and established, and the PI controller of the outer ring was optimized and designed based on the transfer function model to overcome the shortcomings of the traditional PID parameter fixing algorithm with poor flexibility and fixed fixing parameters and improve the control performance of the PI controller.Then, the simulation model is built by MATLAB/Simulink, the simulation results show that the control performance of the PI controller optimized in this paper is better than that of the PI controller optimized by the Z-N method.
Keywords: PMSM; PI controller;parameter tuning; PSO;contractionfactor  

目录
摘要    II
Abstract    III
第一章、绪论    1
1.1永磁同步电机的研究背景及意义    1
1.2永磁同步电机的国内外研究进展    2
1.2.1 国内研究现状    2
1.2.2 国外研究现状    3
1.3本文主要研究内容    4
第二章、PMSM伺服系统的控制原理    7
2.1 PMSM的基本结构    7
2.2 PMSM的数学模型    8
2.3 PMSM的控制方式及原理    11
第三章、PMSM伺服系统的PID控制器设计    14
3.1 传统PID整定法的PID控制器设计    14
3.2 PID控制器优化设计    15
3.2.1 PSO算法原理    16
3.2.2 PSO算法流程    16
3.2.3 应用PSO的PID控制器    20
3.2.4 PID控制器PSO优化算法流程    21
第四章、仿真模型建立与结果分析    24
4.1传递函数模型的建立    24
4.1.1 电流内环模型    24
4.1.2转速外环模型    26
4.2 PMSM伺服系统仿真结果分析    28
第五章、总结    32
参考文献    33
致谢    35