PMSM位置伺服控制器反步设计及在线仿真

Design and On-line Simulation for the Backstepping Position Controller of PMSM

基于永磁同步电机(PMSM)精确的数学模型,针对PMSM绕组相电流和转速强耦合特性,采用反步(Backstepping)方法设计了高性能PMSM位置跟踪控制器,并借助dSPACE平台,将系统模型下载到实时硬件中进行在线仿真。实验结果表明,所设计的PMSM控制系统可以获得满意的跟踪效果,其滤波跟踪误差迅速以指数特性收敛到零,具有较好的位置伺服控制特性。

Based on the exact model of the Permanent Magnet Synchronous Motor (PMSM),a high performance position tracking controller is designed using backstepping method. By means of the dSPACE platform, system model can be compiled into real-time code and downloaded to the hardware to implement on-line simulation.The experiment results show that the controller has acquired good position tracking performance and the filtered tracking error goes to zero exponentially fast for electromechanical dynamics.The whole system achieved high performance position servo control characteristic.