永磁同步电机直接驱动柔性负载控制方法

Control Strategies of Flexible Load Driven Directly by Permanent Magnet Synchronous Motor

针对太阳能帆板驱动系统中,由于步进电机的步进运动与帆板自身的柔性相互耦合而产生的谐振问题,提出使用永磁同步电机(PMSM)直接驱动柔性负载的方法。根据Lagrange原理,得到柔性负载动力学模型,并与PMSM数学模型结合,得到PMSM驱动柔性负载系统的数学模型。采用双闭环矢量控制策略对PMSM驱动柔性负载系统进行控制,得到此时电流环及转速环开环传递函数。通过与传统PMSM驱动刚性负载系统对比,分析负载柔性对电流环和转速环控制特性的影响。在此基础上,分别使用极点配置方法和传统PI调节器参数确定方法,对控制器中PI调节器参数进行了整定。仿真和实验结果验证了上述分析及参数整定方法的有效性。

As for the resonance problem brought by the coupling between the stepping movement of the stepping motor and the flexibility of the solar array in the conventional solar array drive system,permanent magnet synchronous motor (PMSM) is proposed to drive the flexible load. Then based on Lagrange principle, the dynamic equation of the flexible load is derived. Combined with the mathematical model of PMSM, the mathematical model of the system that flexible driven directly by PMSM is built. Then the flexible driven system is controlled via closed-loop field orientation control strategy, and the open loop transfer function of current loop and speed loop is derived. Compared with the rigid load PMSM driven system, the influence of the flexibility on the current loop and the speedloop is analyzed. Two kinds of PI parameter tuning method, i.e. the pole placement method and the traditional method based on type II system, are proposed. Finally, simulation and experimental results have verified the parameter tuning method and the analysis process.