两轮自平衡车CMG永磁电机控制系统

Permanent Magnet Motor Control Applied in CMG Systems of Two-Wheeled Self-Balancing Vehicles

本文讨论应用于两轮自平衡车CMG系统的永磁电机控制。首先介绍了系统方案,针对于CMG转子使用的无刷直流电机设计了级联PI控制器,针对于CMG框架使用的永磁同步电机讨论了其应用特点并提出了一种结合级联PI和扩展状态观测器的复合控制器。仿真结果表明相对于传统级联PI控制器,此复合控制器达到了更好的控制性能。

In this paper,application cases of permanent magnet motor control used in two-wheeled selfbalancing vehicles are discussed.The system scheme is introduced.For the brushless DC motor(BLDCM)used as the CMG rotator motor,a cascaded-PI controller is designed.For the permanent ACmotor(PMACM)used as the CMG frame motor,the application characteristics arefirst discussed and a controller combining cascaded PI and extended state observer is then proposed.Simulation results showimproved performances over conventional cascaded PI controller.