永磁同步电机伺服系统抗扰动自适应控制

Anti-disturbance Adaptive Control for Permanent Magnet Synchronous Motor Servo System

为使永磁同步电机(permanent magnet synchronous motor,PMSM)伺服系统能够满足某些驱动场合时变惯量、时变负荷的工作特性,提出一种具有抗扰动作用的自适应转矩控制方法。针对时变惯量,采用朗道离散时间递推算法对惯量进行实时估计,然后用辨识得到的惯量当前值依照规则对速度控制器各参数进行整定,使伺服系统在惯量发生变化时仍具有良好的动静态性能。针对时变负荷,采用一种简单的降维负载观测器对负载力矩进行辨识,并用辨识得到的负载力矩值对变载引起的速度扰动进行自适应补偿,以提高系统的鲁棒性。以一台面贴式永磁同步电机为对象进行试验,结果表明所提出的自适应算法有效,参数辨识的收敛速度较快,该方案所采用的补偿措施对系统参数变化和扰动等有很强的鲁棒性,能应用在一些时变负荷、时变惯量的驱动场合。

In order to meet the operation requirement under time-variable inertia and time-variable load condition,an adaptive torque control method with anti-disturbance is proposed for permanent magnet synchronous motor（PMSM） servo system.With time-variable inertia,a Landau discrete-time recursive algorithm used to estimate the inertia is adopted.According to the rules,the parameters of speed controller were regulated by the estimated inertia,which guarantees good dynamic and static performance in servo system.Under time-variable load condition,a simple reduced-order observer is established to identify the load torque.And with the estimated value,speed disturbances caused by heavy load can be adaptively compensated which improves system robustness.Experimental results show that the proposed adaptive algorithm is effective and the convergence rate of inertia identification is fast.Compensation measure used in this scheme has strong robustness to the change of system parameters and the disturbance,and it can be applied to some drive fields that have time-variable load and inertia changing slowly.