基于最小拍无纹波数字化的PMSM速度调节器

Speed controller for PMSM based on deadbeat ripple-free digital method

研究用最小拍无纹波数字化方法设计永磁同步电动机(PMSM)伺服系统速度调节器.把电机传动过程模型的连续域传递函数转换成数字域z形式传递函数,根据速度指令的z变换输入形式,设定预期误差传递函数,使得在有限拍内能输出稳定的速度信号,然后依据最小拍无纹波零极点配置原则,反推出数字调节器的形式,并使速度调节器输出的电流指令信号在有限拍内稳定.用阶跃速度指令进行仿真和试验,结果表明此种方法输出速度稳定且调节时间短.

Deadbeat ripple-free method was proposed to design the permanent magnet synchronous motor （PMSM） servo system＇s digital speed controller. The continuous domain transfer function of PMSM drive model was converted into the form of discrete z-domain transfer function. According to the speed command input in the z-transform form, the error transfer function was pre-determined, en- abling the speed a stable output within a limited sample periods. Then on the basis of deadbeat ripple- free zero-pole configuration principle, the z-form digital speed c.ontroller was derived to keep the cur- rent command from the controller become stable in several periods. The simulation and experimental results show that this approach can output the stable speed within a short settling time when the step speed reference is input.