带负载转矩观测器的永磁同步电机位置控制

The Load Torque Observer for Position Control of Permanent Magnet Synchronous Motor

在传统PID调节的永磁同步电机三闭环串级控制结构基础上,增加观测负载转矩并前馈补偿到转速环输出端,以提高控制系统的抗扰动性能。负载转矩观测器采用了一种降维状态观测器,并利用提出的基于李雅普诺夫第二法优化方法来寻求最优观测器参数。为了提高转矩补偿性能,设计了基于复矢量分析的电流环动态解耦控制器;提出了一种机械参数的简便测量方法。实验结果验证了所提方法的有效性和实用性。

A load torque observer was increased in the three closed loop cascade control structure with traditional PID control of permanent magnet synchronous motor, and load torque compensated for speed loop output by feedforward in order to improve the anti-interference capability of the control system. Load torque observer was adopted a reduced-order state observer, and an optimization method based on Lyapunov second method was put forward to search for the observer＇ s optimal parameter. In order to improve the torque compensation performance, current loop dynamic decoupling controller was designed based on the complex vector analysis. A simple method for measuring mechanical parameters was proposed. The experimental results verified the validity and practicability of the proposed method.