无刷直流电机的滑模控制器的设计与仿真

I摘要舵伺服系统在航空航天领域，有着广泛应用和重要的研究价值。应用无刷直流电机作为舵系统执行器，可以增大系统输出转矩，实现系统小型化。本文基于无刷直流电机执行器，利用DSP与FPGA结合的核心处理单元，应用滑模变结构控制策略，实现舵机系统伺服，提高舵系统抗扰性和信号响应的快速性；并在系统中加入滑模观测器，实现对于系统内部状态量的观测，为实现无位置传感器控制提供条件本文应用无刷直流电机作为舵系统执行器，通过分析和设计滑模变结构控制算法，实现舵系统位置伺服控制，利用滑模变结构控制策略的特性，提高系统对于扰动和内部参数摄动的鲁棒性，与基于传统控制策略的伺服机构相比，系统的抗扰性得到了提高。并在系统中引入滑模观测器，利用电流、电压传感器采样相电流和相电压作为该观测器的给定量，观测出电机的速度，转子运动换相位置信号和三相反电动势波形，从而实现电机的无位置传感器控制。本文通过分析舵伺服机构的主要结构和工作原理，根据实际系统技术要求，设计出基于电动伺服系统的数字控制器。利用DSP强大的数据处理能力和FPGA并行运算能力，实现设计的控制算法，提高舵系统的性能。通过MATLAB中Simulink环境下构建理想系统模型，应用滑模控制算法，进行模型仿真。通过系统仿真分析，设计出满足离散系统的滑模控制器参数。通过DSP与FPGA结合的核心处理单元实现滑模变结构控制算法，应用于舵伺服系统中[1]。最后，通过完成整体硬件与软件平台设计，实现对舵伺服系统的控制。通过仿真和实验结果分析，验证了滑模控制具有强鲁棒性和抗扰性，满足舵系统对于快速性和抗扰性的技术要求，提高了系统整体控制性能。关键字：滑模控制；滑模观测器；无刷直流电机；舵伺服系统；DSP+FPGAIIBrushlessdcmotoroftheslidingmodecontrollerdesignandsimulationAbstractRudderservosystemisusedintheaerospacefield,ithasimportantresearchvalue.UsingBLDCMastherubbersystemactuator,itwillimprovethesystem’soutputtorque,andachievesystem’sminiaturization.BasedonBLDCMactuator,combinedDSPandFPGAasthecoreprocessingunit,usingthestrategyofslidingmodevariablestructurecontrolachievetherubberservosystemwhichimprovetherobustnessfordisturbancesandthespeedforsignalresponse.AddingslidingmodeobserverinthesystemrealizetheobservationofinternalsystemstatewhichprovidereliableparametersfortherealizationofpositionsensorlesscontrolThroughabriefanalysisofrudderservoonboththemainstructureandworkingprinciple,basedontheactualsystemtechnicalrequirements,thispaperdesignsadigitalcontrollerwhichisbasedonelectricservosystem.UsingDSPandFPGAasthecorecontrolunit,andthestrongabilityofDSPdataprocessingandtheabilityofFPGAparallelcomputing,achievethedesignofcontrolalgorithms,andimproveperformanceofrubbersystemUsingBLDCMastheservosystemactuator,throughanalysisanddesigningthealgorithmofslidingmodecontrol,thispaperachievesthepositionservocontrolinrubbersystem.Usingthecharacteristicofslidingmodevariablestructureimprovetherobustnessfordisturbanceandinnerparameterstransformation.Comparedwiththecontrolstrategybasedontraditionalservosystem,itimprovestheimmunityofservosystem.AndaddingIIIslidingmodeobserverinthesystem,usecircuitsensorsandvoltagesensorssamplephasecircuitandphasevoltageasthegivingquantitiestoobserver.Thispaperrelyonobservergettingthemotor’sspeed,movingrotor’schangingphasepositionsignalandthree-phaseswaveformsofback-EMF,sothatachievethesensorlessmotorcontrolUsingSimulinkinMATLABbuildtheidealmodeoftherealsystemandthealgorithmsofslidingmode,andcarryoutmodesimulation.Throughthesystemsimulation,designaslidingmodecontrollerwhichmeettheparametersofdiscretesystems,andthroughthecombinationofDSPandFPGAcoreprocessingunitrealizecontrolalgorithm,whichisappliedtotherudderservosystem.Atlast,finishingthedesignofwholehardwareandsoftware,realizethecontrolofrubberservosystem.Throughthesimulationandexperiment,testifiedslidingmodecontrolhasstronglyrobustnessandimmunityfordisturbance.Thismeetstherubbersystem’stechnologyrequirementsincludingrapidandimmunityfordisturbance,andimprovesoverallsystem’scontrolperformanceKeywords：Slidingmodecontrol，Slidingmodeobserver，BLDCM，Rubberservosystem，DSP+FPGAIV目录摘要.....................................................................................................................................................IAbstract....................................................................................................................................................II第1章绪论..........................................................11.1课题背景及研究的目的和意义.....................................11.2国内外伺服研究现状.............................................21.3无刷直流电机控制方法...........................................21.3.1传统的控制方法...........................................31.3.2模糊控制方法.............................................31.3.3鲁棒控制方法.............................................31.3.4神经网络控制方法.........................................41.3.5自适应控制方法...........................................41.3.6滑模变结构控制方法.......................................41.4伺服系统应用的主要问题.........................................51.5课题研究的主要内容.............................................6第2章伺服系统的构成与数学模型......................................82.1伺服系统的总体结构.............................................82.1.1无刷直流电机的选择.......................................92.1.2伺服系统驱动方式.........................................92.2无刷直流电机的工作原理.........................................92.3无刷直流电机数学模型..........................................152.3.1无刷直流电机的方程......................................152.3.2无刷直流电机的状态方程..................................162.3.3无刷直流电机的电磁转矩方程..............................16V2.3.4无刷直流电机的运动方程..................................172.3.5无刷直流电机的机械特性..................................17第3章滑模变结构理论................................................183.1滑模变结构控制的基本原理......................................183.2滑模运动及其存在和到达条件....................................193.3滑模变结构控制................................................193.3.1滑模变结构控制器设计.....................................193.3.2切换函数的设计..............