永磁同步电机伺服系统串级PID矢量控制研究

Study of Permanent Magnet Synchronous Motor Servo System with Cascade PID Vector Control

为实现对永磁同步电机伺服系统的控制,分析基于转子磁链定向矢量控制的伺服电机,建立串级PID控制的伺服系统解耦动态数学模型。依据控制系统工程设计法设计出电流环、速度环、位置环后,研究速度环相对于电流环和位置环的配置对伺服系统性能的影响;进而设计出满足指标要求的伺服控制系统。结果表明:在永磁同步电机伺服系统的串级PID矢量控制中,速度环与电流环和位置环的相对配置对整个伺服系统的影响显著;通过合理设计速度环可使伺服系统取得良好的控制效果。

For the realization of permanent magnet synchronous motor servo system control, to construct the decoupling dynamic mathematical model of the servo system with cascade PID control,the servo motor with rotor flux oriented vector control was analyzed. According to control system design theory, design current feedback, velocity feedback, position feedback, research on the influence of the relative configuration among the velocity feedback, position feedback and current feedback on the servo system performance; and then design the servo control system meeting the requirements. The results show that： the relative configuration among velocity feedback,current feedback and position feedback affect the permanent magnet synchronous motor servo system with cascade PID vector control significantly; through the rational design of velocity feedback, servo system can achieve good effect.