PMSM伺服系统的PID控制器设计及仿真

Design and Simulation of PID Controller Based on PMSM Servo System

分析了基于矢量控制的永磁同步电机(PMSM)数学模型,确定了交流伺服系统的电流环、速度环、位置环三闭环控制方案。采用结构简单、适应范围广和鲁棒性强的PID控制器实现系统的整定,给出了各环节参数的具体整定步骤。用Matlab对三闭环控制系统进行仿真,提出多环控制系统设计的要点。结果表明,位置伺服系统无超调、响应快、稳定性良好。

As well as mathematical model of PMSM based on vector controlling, the scheme of Current-feedback, speed-feedback and position-feedback in AC servo system is described in this paper. To match high accuracy and fast response servo system, PID controllers are introduced. These controllers have characteristics of simple frame, wide adaptability and strong robustness. The tuning steps are obtained. The three loops are simulated in Matlab, and the methods on the design of many-loop controlling system are proposed. Simulation results show that the servo system displays high performance of zero overshoot, fast response and good stability.