In order to reduce the effects caused by load torque disturbances,the frequency characteristics of permanent magnet synchronous motor(PMSM) servo system speed response model under load torque disturbance are studied.Based on the relationship between the speed fluctuation caused by load torque disturbance and the parameters of speed PI regulator,a variable gain PI(VGPI) control method for PMSM based on load torque feedback compensation is proposed.According to the variation of the specific frequency component of speed,the variable PI controller gain can be real-time modified in this control strategy.Meantime,a load torque observer based on Kalman Filter is designed and implemented by FPGA,which guarantees that the variation of load torque can be observed and compensated in real time.The capacity of load torque disturbance rejection of PMSM system is improved.Experimental results are given to verify the validity of the control scheme.
关 欣, 李叶松. 基于实时负载转矩反馈补偿的永磁同步电机变增益PI控制[J]. 电工技术学报, 2016, 31(23): 38-45.
Guan Xin, Li Yesong. Variable Gain PI Control Method for Permanent Magnet Synchronous Motor Based on Load Torque Feedback Real-Time Compensation. Transactions of China Electrotechnical Society, 2016, 31(23): 38-45.
[1] 郑泽东,李永东,肖曦,等.永磁同步电机负载转矩观测器[J].电工技术学报,2010,25(2):30-36.
Zheng Zedong,Li Yongdong,Xiao Xi,et al.Load torque observer of permanent magnet synchronous motor[J].Transactions of China Electrotechnical Society,2010,25(2):30-36.
[2] Liu Xing,Liang Deliang,Yang Xinning.Dynamic characteristics test of permanent magnet synchronous machine with sinusoidal torque load[C]//Ninth International Conference on Ecological Vehicles and Renewable Energies,Monte-Carlo,Monaco,2014:1-4.
[3] Zhao Shouhua,Chen Yangsheng,Mao Yongle.Adaptive load observer-based feed-forward control in PMSM drive system[J].Transactions of the Institute of Measurement and Control,2015,37(3):414-424.
[4] 刘英培,栗然,梁海平.基于最小二乘支持向量机优化自抗扰控制器的永磁同步电机直接转矩控制方法[J].中国电机工程学报,2014,34(27):4654-4664.
Liu Yingpei,Li Ran,Liang Haiping.Direct torque control for permanent magnet synchronous motor based on active-disturbance rejection control optimized by least squares support vector machines[J].Proceedings of the CSEE,2014,34(27):4654-4664.
[5] Choi H H,Leu V Q,Choi Y S,et al.Adaptive speed controller design for a permanent magnet synchronous motor[J].IET Electric Power Applications,2011,5(5):457-464.
[6] Yu Jinpeng,Shi Peng,Dong Wenjie,et al.Neural network-based adaptive dynamic surface control for permanent magnet synchronous motors[J].IEEE Transactions on Neural Networks and Learning Systems,2015,26(3):640-645.
[7] 陆婋泉,林鹤云,冯奕,等.永磁同步电机无传感器控制的软开关滑模观测器[J].电工技术学报,2015,30(2):106-113.
Lu Xiaoquan,Lin Heyun,Feng Yi,et al.Soft switching sliding mode observer for PMSM sensorless control[J].Transactions of China Electrotechnical Society,2015,30(2):106-113.
[8] Zhang Changfan,Jia Lin,He Jing.Load torque observer based sliding mode control method for permanent magnet synchronous motor[C]//25th Chinese Control and Decision Conference,Guiyang,China,2013:550-555.
[9] 易伯瑜,康龙云,陶思念,等.永磁同步电机抗扰高阶滑模观测器设计[J].电工技术学报,2014,29(5):132-140.
Yi Boyu,Kang Longyun,Tao Sinian,et al.Design of robust high order sliding mode observer for permanent magnet synchronous motors[J].Transactions of China Electrotechnical Society,2014,29(5):132-140.
[10]王少威,万山明,周理兵,等.利用蚁群算法辨识PMSM伺服系统负载转矩和转动惯量[J].电工技术学报,2011,26(6):18-25.
Wang Shaowei,Wan Shanming,Zhou Libing,et al.Identification of PMSM servo system’s load torque and moment of inertia by ant colony algorithm[J].Transactions of China Electrotechnical Society,2011,26(6):18-25.
[11]Lee K,Choy I,Back J,et al.Disturbance observer based sensorless speed controller for PMSM with improved robustness against load torque variation[C]//IEEE 8th International Conference on Power Electronics and ECCE Asia,Jeju,South Korea,2011:2537-2543.
[12]Li Shihua,Zhou Mingming,Yu Xinghuo.Disturbance observer based terminal sliding mode control method for PMSM speed regulation system[C]//30th Chinese Control Conference,Yantai,China,2011:6287-6292.
[13]Kim Hyun-Sik,Ko Jong-Sun.Experimental position control of PMSM using disturbance observer with system parameter compensator[C]//11th International Conference on Control,Automation and Systems,Gyeonggi-do,Korea,2011:1396-1401.
[14]Du Limin,Zhang Ke,Jin Guang.Linear auto disturbance rejection controller for vector controlled PMSM drive system[C]//International Conference on Transportation,Mechanical,and Electrical Engineering,Changchun,China,2011:879-882.
[15]Mechernene A,Chrifi-Alaoui L,Zerikat M,et al.VGPI controller for high performance speed tracking of induction motor drive[C]//Proceedings of the 3rd International Conference on Systems and Control,Algiers,Algeria,2013:472-477.
[16]秦忆,周永鹏,邓忠华,等.现代交流伺服系统[M].武汉:华中理工大学出版社,1995.
[17]Shi Tingna,Wang Zheng,Xia Changliang.Speed measurement error suppression for PMSM control system using self-adaption Kalman observer[J].IEEE Transaction on Industrial Electronics,2015,62(5):2753-2763.
[18]Yeh H G.Real-time implementation of a narrow-band Kalman filter with a floating-point processor DSP32[J].IEEE Transactions on Industrial Electronics,1990,37(1):13-18.
[19]Neto J V F,Farid J A,de Abreu J A P.QR-duality tuning of standard Kalman filter oriented to rocket velocity indirect measurement[C]//12th International Conference on Computer Modelling and Simulation,Cambridge,United Kingdom,2010:74-79.
2016, Vol. 31 
