永磁同步伺服系统低速性能研究

Research on Low-speed Performance of Permanent Magnet Synchronous Servo System

本文简要介绍了永磁同步伺服系统的原理、构成,以及系统电流环速度环的设计,分析了处于低速和高速运行情况下系统的运行状况之间的差别。通过仿真和实验,研究了系统在低速运行情况下的速度跟随、负载扰动响应性能对调节器的不同要求,讨论了系统在低速运行范围内调节器参数的整定,以及借助于负载观测自动补偿负载扰动的方法。通过负载观测器参与系统控制,可以有效解决动态跟随调节和动态抗扰调节之间的矛盾。文章还给出了系统参数调整适当情况下的速度阶跃、负载扰动响应波形。从实验结果来看,借助于合适选择速度调节器参数、并将负载观测值引入系统进行抗扰调节,系统将具有很好的动态跟随和抗扰响应性能。

The principle,constitution of the permanent magnet synchronous servo system and the design of its current and speed loop were essen- tialized in this paper.The difference of system states operating in between high speed and low speed range was analyzed.By means of simulation and experiment,the different requirement of the speed tracking and the load disturbance response capability in low speed range to the regulator was studied and the tune of parameters of regulator and the method of automatic compensating load disturbance with the help of load observer were discussed.With the load observer adopted to system control,the contradiction between dynamic tracking regulating and dynamic disturbance-resist regulating could be settled effectively.The response waveforms of speed jumping and load disturbance when the parameter were tuned properly were listed.From the result of experiment,the system will possess excellent dynamic tracking and suppressing disturbance response performance by selecting appropriate parameters of regulator and introducing load obser- vation to compensate disturbance.