同步电动机三自由度内模动态解耦控制

Three-degree-freedom internal model dynamic decoupling control of synchronous motor

为了解决矢量控制只能实现电机转矩与磁链的静态解耦,不能实现两者的动态解耦的问题,探讨了多自由度内模解耦方案。由于一自由度内模解耦,当电机参数非同步变化时,电机定子电压方程仍存在耦合现象;而二自由度内模解耦,耦合程度虽有所减少,但动态解耦仍不完全;提出了三自由度内模解耦控制方案。该方案中通过前馈控制器、内模控制器、反馈滤波器的设计,从而实现动态全解耦。通过同步电动机内模解耦控制的仿真与实验结果证明了三自由度内模解耦控制方案能够实现动态完全解耦。

The vector control can achieve static decoupling of the motor torque and flux linkage, but can not get dynamic decoupling. The multi-degree freedom internal model decoupling was presented. One-degree-freedom internal model （1DOF-IM） decoupling control had coupling phenomenon, when parameters changed in different percentage. Despite of the decrease in coupling, two-degree-freedom internal model （2DOF-IM） decoupling control method existed coupling. So three-degree-freedom internal model （3DOF-IM） decoupling control was proposed. By the design of feedforward controller, internal model controller and feedback filter, the 3DOF-IM control decoupled completely. The results of simulation and experiment show that the 3DOF-IM decoupling control method can achieve dynamic decoupling.