论文总字数：19535字

摘 要

永磁同步电动机（permanent magnet synchronous motor,PMSM）系统具有高精度、高稳定性、低噪声的特点,在现代工业中具有较高的应用价值。

但是，由于气隙磁场的畸变和逆变器的非线性特性，使永磁同步电动机电流中含有大量谐波，使得电流波形发生畸变，从而导致电机电磁转速脉动。

针对如何抑制谐波电流，改善电流波形的问题，国内外的学者开展了大量的研究工作，以改善电流波形的正弦度。

目前，一种新型的分数阶PID控制器吸引了国内外学者的广泛关注， 由于增加了可调参数，使得控制器设计具有更大的灵活性，从而能够获得更好的控制性能。

因此，本文通过MATLAB/Simulink软件工具，将几种基于传统PI控制的电流谐波抑制策略与分数阶PID控制器模块相结合，并进行建模与仿真。同时，对实验结果进行比较与分析。

关键词：永磁同步电动机；电流波形的正弦度；抑制谐波电流；分数阶PID控制器

Abstract

Due to the distortion of air gap magnetic field and the nonlinear characteristics of inverter, the permanent magnet synchronous motor (PMSM) has a large number of high-order harmonics in its current, which causes the distortion of current waveform and the electromagnetic torque ripple of the motor.

In order to solve the problem of how to suppress harmonic current, improve the current waveform and restrain torque ripple, scholars at home and abroad have carried out a lot of research work to improve the current waveform sine.

At present, a new Fractional Order PID controller has attracted the extensive attention of scholars at home and abroad. Because of the addition of two adjustable parameters, the controller design has greater flexibility, so that better control performance can be achieved.

Therefore, this thesis uses Matlab / Simulink software tools to combine several current harmonic suppression strategies based on traditional PI control with Fractional Order PID controller module, and to model and simulate. At the same time, the experimental results were compared and analyzed.

Abstract：permanent magnet synchronous motor (PMSM)；suppressing harmonic current；Fractional Order PID

目录

摘要.........................................................................Ⅰ

Abstract.....................................................................Ⅱ

1 绪论........................................................................1

2 永磁同步电机电流谐波分析....................................................2

2.1 低次谐波来源分析........................................................2

2.2 永磁同步电机稳态运行时的谐波模型........................................3

2.3 本章小结................................................................4

3 永磁同步电机电流谐波抑制策略................................................5

3.1 多旋转PI控制策略.......................................................6

3.2 PR控制策略..............................................................7

3.3 本章小结................................................................8

4 分数阶PID控制器............................................................9

4.1 分数阶微积分的定义......................................................9

4.2 分数阶微积算子的实现方法................................................9

4.3 分数阶PID控制器的传递函数.............................................10

4.4 分数阶PID控制器的设计.................................................10

4.5 本章小结...............................................................12

5 电流谐波抑制策略的实验.....................................................13

5.1 永磁同步电机的参数设定.................................................13

5.2 实验结果...............................................................14

5.2.1 未经过优化策略的永磁同步电机的仿真结果.............................14

5.2.2 在转速环使用分数阶PID控制的永磁同步电机的仿真结果.................16

5.2.3 使用多旋转PI控制策略的永磁同步电机的仿真结果......................18

5.2.4 使用多旋转PI控制和分数阶PID控制策略的永磁同步电机的仿真结果......20

5.2.5 使用准谐振PR控制策略的永磁同步电机的仿真结果......................22

5.2.6 使用准谐振PR控制和分数阶PID控制策略的永磁同步电机的仿真结果......24

5.3 本章小结...............................................................26

6 抗干扰仿真.................................................................27

6.1 在系统达到稳定前加入扰动...............................................27

6.2 在系统达到稳定后加入扰动...............................................30

6.3 抗干扰仿真结果分析.....................................................30

6.4 本章小结...............................................................30

7 分数阶PID控制器的鲁棒性仿真...............................................34

7.1 修改5%电机参数后的仿真结果...........................。............34

7.2 修改10%电机参数后的仿真结果.........................。.............36

7.3 鲁棒性仿真结果分析.................................................37

7.4 本章小结...............................................................39

8 总结与展望.................................................................40

参考文献.....................................................................41

致谢.........................................................................42

绪论

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