基于专家PID控制器的伺服系统速度控制研究

Servo system speed control research based on expert PID controllor

为了满足永磁同步电机速度伺服控制系统较快的跟踪性能和较强的抗干扰能力的需求,提出了一种基于专家思想的PID控制算法,设置多种方式实现不同工况下的伺服控制,由于在速度进行更改时会出现较大偏差,通过引入RC滤波控制的方法解决当给定速度变化时输出突变的问题;并通过理论分析、仿真和实验研究,表明了专家PID控制器能很好地解决超调量及稳态误差方面的问题,对给定值和负载扰动具有很好的鲁棒性,永磁同步电机能获得很好的速度跟踪效果。

In order to meet the requirement that the speed servo control system of permanent magnet synchronous motor need to require the performance of fast-tracking and ability of anti-interference, an expert PID control algorithm is put forword. The servo control under different working conditions is realized by setting a variety of means. The problem of output mutations caused by change of the input speed value is solved by using RC filter. Theoretical analysis, simulation and experimental research prove that the expert PID controller can solve the problems about overshoot and steady-state error, and it is robust to given value and load torque disturbance. The permanent magnet synchronous motor （PMSM） system achieves excellent tracking performance.