低速下电机转矩脉动抑制的算法研究

Research on Algorithm of Motor Torque Ripple Suppression in Low Speed

低速下电机转矩脉动严重影响系统的控制性能。为了抑制转矩脉动,提出了一种迭代学习控制算法,算法基于自学习控制,结合迭代法,不依赖于系统的精确数学模型,是一种通用性较强的控制算法。为了模拟本身具有大转矩脉动的电机特性,采用特殊的方式来驱动一台永磁同步电机,使其具有较大的转矩脉动,然后运用算法对其转矩脉动进行抑制,取得了良好的效果。最后对PID调节器进行了改进,使其具有更好的调节性能。

At low speeds, motor torque ripples seriously affect the control performance of the system. In order to suppress the torque ripple, an iterative learning control algorithm was proposed. The algorithm is based on self-learning control, combined with iterative method, independent on the precise mathematical model of the system, which is a highly universal control algorithm. To simulate the characteristics of the motor with large torque ripple, used a special way to drive a permanent magnet synchronous motor, making it have large torque ripple, then used the algorithm to suppress the torque ripple, achieving a good result. In the end, the PID regulator was improved so as to provide better regulating performance.