永磁交流伺服系统PID最优化参数整定

Optimization Tuning of PID Parameters in Permanent Magnet Synchronous Motor

为了构成高性能的永磁交流伺服系统速度环,实现高速变化下的速度跟随,引入微分环节,应用相位裕度的PID最优化参数整定方法整定控制器参数,建立了永磁交流伺服电机速度环数学模型,与工程常用PI控制器系统性能进行比较分析。仿真结果表明,系统的动态特性与稳态误差均可取得更好效果,并能达到速度高速跟随。另外,与传统几何推导PM法相比,根据相位裕度概念推导出参数整定公式,并为约束应用两次寻优的方法整定PID系统参数。

In this paper,a mathematical model of the speed loop of permanent magnet synchronous motor（PMSM）was constructed.The PI parameters were tuned by the method commonly used in engineering practice,and then the capability of system was analyzed.The differential regulation is introduced to constitute a high performance speed loop of PMSM and realize the perfect following capacity of high speed variation.The PID parameters were tuned by a new optimization tuning method based on phase margin.In this paper,the tuning formula was derived from the concept of phase margin.Furthermore,twice optimization algorithms were called for PID parameters tuning.Compared with the traditional PM method derived from geometrical graph,it is simple and pellucid.