| With the steady improvement of China’s aerospace strength,more stringent requirements are put forward for the operation characteristics of aerospace motors,and the operation conditions of motors are becoming more and more complex.Permanent magnet synchronous motor(PMSM)is widely used because of its good applicability and high efficiency.In the application environment of radar,satellite antenna and so on,the motor needs to run within 10% of the rated speed without jitter,crawling and other phenomena.Therefore,it is imperative to study the low-speed operation algorithm of PMSM.In the traditional control system of permanent magnet synchronous motor(PMSM),resolver,photoelectric encoder and magnetic encoder need to be installed at the shaft end of the motor to obtain the speed and position signals of the motor.However,the addition of sensors increases the complexity of the system and reduces the reliability of the system.If the sensor fails,the whole system will be out of control.Therefore,to meet the requirements of aerospace control,when the resolver or encoder fails,it is of great practical value to switch the control system and take the sensorless control as a backup.Therefore,it is an urgent problem to study the high-performance sensorless low-speed control system of PMSM.In this thesis,the low-speed control of the motor is taken as the research object,and the mathematical model of the surface mounted permanent magnet synchronous motor is established.Through the transformation of the model,the high-frequency injection model of the permanent magnet synchronous motor is determined.The pulse highfrequency voltage signal injection method is used to design the no position control algorithm,and the frequency and amplitude of the high-frequency injection signal are selected.A new type of nonlinear extended observer is introduced to solve the motor position signal to realize the real-time solution of rotor position and speed.In the process of parameter tuning of double closed-loop PI regulator,particle swarm optimization algorithm is introduced to realize the dynamic adjustment of PI regulator parameters.The simulation model of the whole system is built in the matrix experiment to verify the effectiveness of the system.Taking DSP chip TMS320F28335 as the main control chip,through the algorithm analysis,the hardware modules of PMSM control system are designed.The main control program and control strategy optimization are completed in CCS3.3programming environment.The state observer calculation based on Sensorless and PI parameter tuning are realized in the software.At the same time,the upper computer software is written by Lab Windows / CVI to realize the visual monitoring of the running state of the whole system.Taking a certain type of aerospace permanent magnet synchronous motor as the specific research object,the effectiveness of the introduced nonlinear extended state observer and particle swarm optimization algorithm is verified by software simulation,and the stability of the built position free control system is greatly improved compared with the traditional position free control system.By building the hardware platform of the system,the non position control system is verified.It is proved that the whole control system can realize the accurate estimation of motor speed without position sensor,and the motor can operate stably in the low-speed section,and the steady-state performance and dynamic performance of the motor are good. |
