永磁同步电机调速系统的一种新型二自由度控制器

A Novel Two-Degree-of-Freedom Controller for Permanent Magnetic Synchronous Motor Speed-Regulation System

在永磁同步电机调速系统中,基于扰动观测器的传统二自由度控制系统对阶跃输入的跟踪性能与其抗扰性能之间存在耦合,因此控制器的参数整定过程比较复杂。提出了一种新型二自由度控制器。这种新型控制器利用更高一阶的扩张状态观测器取代传统控制器中的扰动观测器,同时对转速和扰动转矩进行观测。利用观测的转速和扰动转矩分别作为反馈量和前馈补偿量,从而实现系统跟踪性能与抗扰性能的完全解耦,进而简化控制器的参数整定过程。最后通过实验验证了所提方法的有效性和实用性。

In the permanent magnetic synchronous motor （ PMSM ） speed-regulation sy s tem, the conventional two-degree-of-freedom （ 2D0F） control system based on disturbance observer （ DOB ） has the problem that the step reference tracking performance and disturbance rejection property of the system are coupled, which complicates the parameter setting process of the controller. A novel 2 DOF controller is proposed in this paper. This novel controller substitutes the DOB used in conventional controller with the extended state observer, which can estimate the velocity and the disturbance torque at the same time. By using the estimated velocity as the feedback signal and the estimated disturbance torque as the feed forward signal, the tracking performance and the disturbance rejection property are fully decoupled, thus leading to a simple parameter setting process of the controller. Extensive experiments are performed to verify the validity and practicality of the proposed algorithm.