基于Simulink的电动伺服加载系统仿真建模研究

doi:10.16180/j.cnki.issn1007-7820.2019.08.001

摘要/Abstract

摘要：

数学模型是对电动伺服加载系统算法研究的基础,文中采用机理建模的方式,建立了一个与实际贴合的MATLAB/Simulink仿真模型以为后期算法研究提供方便。文中详细推导了永磁同步电机的数学模型,并在此基础上建立了PMSM模块、逆变器模块、SVPWM算法模块的数学模型。通过将其组建成完整的PMSM矢量控制系统的仿真模型,建立了执行电机的MATLAB/Simulink仿真模型。通过中间连接部件耦合建立了电动伺服加载系统的MATLAB/Simulink整体模型,并通过主动和被动加载的阶跃与正弦信号进行仿真和实验,验证了电动伺服加载系统整体模型的准确性。

关键词: 电动伺服加载, PMSM, SVPWM, Simulink, 机理建模, 仿真

Abstract:

The mathematical model was the foundation of the algorithm research of the motor servo loading system. T In this paper, a MATLAB/Simulink simulation model was established by mechanism modeling to facilitate the later algorithm research. The mathematical model of permanent magnet synchronous motor is deduced in detail, and the mathematical model of PMSM module, inverter module and SVPWM algorithm module was established. The MATLAB/Simulink simulation model of the motor was established by building a complete simulation model of the PMSM vector control system. The MATLAB/Simulink overall model of the electric servo loading system was established by coupling the intermediate connecting parts. Finally,the accuracy of the overall model of the motor servo loading system was verified through the simulations and experiments under the active and passive loading state of steps and sines, respectively.

Key words: motorized system, PMSM, SVPWM, Simulink, mathematical model, simulation

中图分类号:

TP391.9

祁涛,白国振,江鸿潮. 基于Simulink的电动伺服加载系统仿真建模研究[J]. 电子科技, 2019, 32(8): 1-6.

QI Tao,BAI Guozhen,JIANG Hongchao. Simulation Modeling of Electric Servo Loading System Based on Simulink[J]. Electronic Science and Technology, 2019, 32(8): 1-6.

图/表 14

图1

图2

图3

图4

图5

图6

表1

图7

图8

表2

图9

图10

图11

表3

参考文献 16

[1]	王哲 . 电动基于PR控制的负载模拟系统[J]. 中国电机工程学报, 2015,35(2):486-493. doi: 10.13334/j.0258-8013.pcsee.2015.02.029
	Wang Zhe . A Dynamic load simulation system based on proportional-resonant control method[J]. Proceedings of the CSEE, 2015,35(2):486-493. doi: 10.13334/j.0258-8013.pcsee.2015.02.029
[2]	王成东 . 模拟风力机载荷的电液加载装置的设计研究[D]. 杭州:浙江大学, 2016.
	Wang Chengdong . Research on the electro-hvdraulic loading device for wind turbine load simulation[D]. Hangzhou:Zhejiang University, 2016.
[3]	段向东 . 电动加载系统复合控制方法研究[D]. 太原:中北大学, 2014.
	Duan Xiangdong . Research on composite control method of motor-driven loading system[D]. Taiyuan: North University of China, 2014.
[4]	刘锐 . 永磁电机动态加载伺服系统及控制策略研究[D]. 北京:北京理工大学, 2016.
	Liu Rui . Research on permanent magnet motor dynamic loading servo system and control strategy[D]. Beijing: Beijing Institute of Technology, 2016.
[5]	刘杰, 麦云飞 . 转向器疲劳试验台被动加载建模与仿真[J]. 电子科技, 2017,30(7):55-58.
	Liu Jie . Modeling and simulation of passive load in steering fatigue testing[J]. Electronic Science and Technology, 2017,30(7):55-58.
[6]	史航 . 基于内膜控制的电动负载模拟器伺服系统设计[D]. 哈尔滨:哈尔滨工业大学, 2007.
	Shi Hang . Study on controler design of electric torque load simulator servo system based on internal model control[D]. Harbin:Harbin Institute of Technology, 2017.
[7]	王薇 . 深入浅出西门子运动控制器:SIMOTION实用手册[M].2版. 北京: 机械工业出版社, 2013.
	Wang Wei. SIEMENS motion controller: SIMOTION practical handbook[M].Second Edition. Beijing: Machinery Industry Press, 2013.
[8]	杨煜敏 . TwinCAT3入门教程[M].2版. 上海: 毕孚自动化设备贸易有限公司, 2017.
	Yang Yumin . Introductory tutorials of TwinCAT3[M]. Second Edition. Shanghai: Biver Automation Equipment Trading Co., Ltd., 2017.
[9]	王军 . 永磁同步电机智能控制技术[M]. 成都: 西南交通大学出版社, 2015.
	Wang Jun. Intelligent control technology of PMSM[M]. Chengdu: Southwest Jiao Tong University Press, 2015.
[10]	胡寿松 . 自动控制原理[M]. 6版.北京: 科学出版社, 2015.
	Hu Shousong. Principle of automatic control[M].Sixth Edition. Beijing: Science Press, 2015.
[11]	袁登科 . 永磁同步电机变频调速系统及其控制系统[M]. 北京: 机械工程出版社, 2015.
	Yuan Dengke. The variable frequency speed regulation system and control system of PMSM[M]. Beijing: Mechanical Engineering Press, 2015.
[12]	王正林 . MATLAB/Simulink与控制系统仿真[M]. 北京: 电子工业出版社, 2012.
	Wang Zhenglin. MATLAB/simulink and control system simulation[M]. Beijing: Electronics Industry Press, 2012.
[13]	刘青阳, 魏国亮, 王永雄 , 等. 基于模糊理论的永磁同步电机直接转矩弱磁控制[J]. 电子科技, 2015,28(6):187-190.
	Liu Qingyang, Wei Guoliang, Wang Yongxiong , et al. Flux-weakening direct torque control of PMSM based on fuzzy logic algorithm[J]. Electronic Science and Technology, 2015,28(6):187-190.
[14]	邢坤博, 荣军, 陈存坚 , 等. 永磁同步电动机自控式变频调速系统研究[J]. 电子科技, 2016,29(2):41-44.
	Xing Kunbo, Rong Jun, Chen Cunjian , et al. Study of self-controlled and variable frequency speed regulation control system for PMSM[J]. Electronic Science and Technology, 2016,29(2):41-44.
[15]	徐德鸿 . 电子电力系统建模及控制[M]. 北京: 机械工程出版社, 2011.
	Xu Dehong. The modeling and control of electronic power system[M]. Beijing: Mechanical Engineering Press, 2011.
[16]	张兴, 张崇巍 . PWM整流器及其控制[M]. 机械工业出版社, 2012.
	Zhang Xing, Zhang Chongwei , et al. The rectifier and control of PWM[M]. Beijing: Mechanical Engineering Press, 2012.

		K_P	K_I
承载电机	电流环	93.864	46.932
承载电机	速度环	0.202	0.0202
加载电机	电流环	20	10
加载电机	速度环	40	2

		上升时间/s	超调量 r/min	超调量百分比
承载电机	仿真	0.01	58	1.9%
承载电机	实验	0.04	50	1.7%
加载电机	仿真	0.14	0	0
加载电机	实验	0.14	0	0

		上升时间/s	超调量/Nm	超调量百分比	稳态误差百分比
主动加载	仿真	0.014	3.22	64.4%	0
主动加载	实验	0.01	3.5	70%	0
被动加载	仿真	0.002	6.1	120.7%	10%
被动加载	实验	0.002	6.5	130%	16%