永磁交流伺服系统速度控制器优化设计方法

Optimal speed controller design method for permanent magnet AC servo system

针对永磁同步电机数字控制系统中,电机转速动态过程中出现的由于通常采用PI控制器串联校正来设计速度环而导致的超调和振荡问题,提出了一种速度控制器优化设计方法。在分析了永磁交流伺服系统速度环数学模型的基础上,调整了速度控制器中比例增益的作用位置,构成IP控制器局部反馈校正来设计速度环。根据稳定性和跟随性要求,选取转速偏差指标函数,优化控制器参数设计,同时在控制器设计中增加了anti-windup策略。所设计的控制器,可以获得电机转速的无超调、无振荡快速响应,并具有较强的抗扰动能力。仿真和实验结果验证了设计方法的有效性和可行性。

In the permanent magnet synchronous motor（PMSM） digital control system,the proportional-integral（PI） regulator is always adopted in the speed control loop.To solve the speed overshoot and oscillation problems in the dynamic process,this paper proposed an optimal speed controller design method.On the basis of the analysis of the permanent magnet AC servo system speed loop model,it relocated the proportional action into the feedback path to constitute integral-proportional（IP） regulator.According to stability and following performance requirements,it formulated the speed error criterion function.The speed controller parameters were optimized,and the anti-windup strategy was considered.The speed control strategy has fast response without overshoot and oscillation,and improves the anti-disturbance performance.The simulation and experimental results verify the effectiveness and feasibility of the proposed method.