基于非线性跟踪微分器的异步电机前馈控制

Feedforward Control of Asynchronous Motor Based on Nonlinear Tracking Differentiator

传统的异步电机转速电流双闭环系统中,为了避免高频噪声导致系统振荡,速度调节器和电流周节器都采用PI调节器。在要求电机转速快速跟踪给定信号且电机惯性较大时,PI调节器的积分滞后效应易导致速度环超调甚至振荡,单纯采用反馈控制很难解决快速性和稳定性之间的矛盾。采用前馈控制可使系统实现完全补偿,极大地扩展了系统带宽,从而改善了系统的快速性,同时可避免快速性和稳定性之间的矛盾。提出了一种基于非线性跟踪微分器的异步电机前馈控制技术,可用于对跟随性能要求高的随动系统。

To avoid high frequency noise, the traditional asynchronous motor speed current double-closed-loop system was used by PI regulator as its speed and current regulator. When speed was required to track reference sigual quickly and inertia of motor was large, the hysteresis effect of triditional PI retulator would give rise to overshoot and oscillation of speed loop. Feedback control couldn＇t eliminate contradiction between rapidity and stability. Feedforward control could realize complete compensation, extend bandwidth of system largely and avoid contradiction between rapidity and stability. Feedforward control based on nonlinear tracking differentiator inroduced could be used in servo system which was hard on tracking performance.