电工技术学报  2016, Vol. 31 Issue (23): 38-45    DOI:
电机与电器 |
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
关 欣, 李叶松
华中科技大学自动化学院 武汉 430074
Variable Gain PI Control Method for Permanent Magnet Synchronous Motor Based on Load Torque Feedback Real-Time Compensation
Guan Xin, Li Yesong
School of Automation Huazhong University of Science and Technology Wuhan 430074 China
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摘要 

为了减小负载转矩扰动对永磁同步电机转速的影响,对负载转矩扰动下永磁同步电机(PMSM)伺服系统数学模型的频域特性进行了研究,总结出负载转矩扰动和速度PI控制器参数之间的关系,提出了基于负载转矩反馈补偿的永磁同步电机变增益PI控制方案。变增益PI(VGPI)控制器根据转速信号中特定频率分量的变化,进行控制器增益的实时调节;同时采用FPGA器件设计并实现了基于Kalman滤波器的负载转矩观测器,能够对负载转矩扰动进行实时观测和补偿,提高了永磁同步电机伺服系统对负载转矩扰动的抑制能力。实验结果验证了控制策略的有效性。

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关键词 永磁同步电机负载转矩扰动变增益PI负载转矩观测器    
Abstract

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.

Key wordsPermanent magnet synchronous motor(PMSM)    load torque disturbance    variable gain PI (VGPI)    load torque observer   
收稿日期: 2015-07-05      出版日期: 2016-12-26
PACS: TM351  
基金资助:

国家科技重大专项项目资助(2012ZX04001-022)。

作者简介: 关 欣 男,1990年生,硕士研究生,研究方向为数字化交流传动控制系统。E-mail:guanxin_hust@163.com(通信作者)李叶松 男,1970年生,教授,博士生导师,研究方向为数字化交流传动控制系统、智能化控制以及现场总线网络化运动控制。E-mail:hustysli@sina.com
引用本文:   
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.
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