基于两自由度PID-准谐振控制器的永磁同步电机转矩脉动抑制方法

Torque Ripple Suppression Method of Permanent Magnet Synchronous Motor Based on Two-Degree-of-Freedom PID Controller and Quasi-resonant Controller

由于功率变换器死区、磁链谐波等非线性因素的存在,导致电机相电流中含有大量高次谐波,因而电流与磁链共同作用后产生的电磁转矩中也含有各种阶次的谐波,这使得转矩呈现出一种周期性的波动特性,称为转矩脉动。为解决这一问题,分析了转矩脉动产生的原因,为消除引起转矩脉动的谐波电流提出一种PI控制器与准谐振控制器相并联的控制结构。然而,谐振控制器的加入导致电流环响应超调的增加,因此引入两自由度PID控制器以减小电流超调,最终得到一种两自由度PID并联准谐振控制器的控制结构。最后,通过仿真实验对各种控制结构的对比研究,验证了所提方法的有效性。

This paper analyzes the causes of torque ripple,and proposes a control structure in which a PI controller and a quasi-resonant controller are connected in parallel to suppress the harmonic current that causes the torque ripple.However,the resonant controller can result in the overshoot in the current loop response,so a two-degree-of-freedom PID controller is introduced to reduce the current overshoot,and a control structure of a two-degree-of-freedom PID controller combined with quasi-resonant controller is finally obtained.Finally,a comparative study of various control structures through simulation experiments validates the effectiveness of the proposed method.