基于微分平坦理论的PMSM无差拍电流控制算法

Research on PMSM Dead-beat Current Control Algorithm Based on Differential Flatness Theory

电流环的响应速度决定永磁同步电机(PMSM)伺服系统的响应速度。无差拍电流控制虽然能使电流环具有良好的响应速度,但它需要精确的电机参数,特别是电机电感的变化会影响系统的稳定性,当电感变为额定电感的0.5倍时,系统不稳定,鲁棒性差,同时还存在采样延时,降低了系统稳定范围。针对这些问题,首先进行延时补偿,然后将微分平坦控制加入无差拍电流控制算法中提高系统的鲁棒性并给出系统稳定范围,使电流环同时具有良好的响应速度和鲁棒性,最后通过仿真和实验验证所提算法的有效性和实用性。

The response speed of the permanent magnet synchronous motor（PMSM） servo system is determined by the speed of the current loop.Dead-beat current control has good response speed,but it requires accurate motor parameters, especially the parameters of inductance.The stability of the system influenced by the inductance, when the inductance changes to 0.5 times the rated inductance,the system is unstable and the robustness is poor.Meanwhile,the sampling delay also reduces the stability range of the system.To solve these problems, the delay compensation is proposed, then the differential flatness control is added to dead-beat current control algorithm to improve the robustness of the system, and the stability range of the system is given.After these methods are implemented,the current loop has good response speed also robustness.The effectiveness and practicability of the proposed algorithm are verified by simulation and experiment.