表贴式永磁同步电机转速环复合PI无位置传感器控制

Sensorless Compound PI Control for Surface Permanent Magnet Synchronous Motor Speed Regulation System

针对传统永磁同步电机转速环PI控制下转速跟踪性能差的问题,设计一种复合PI无位置传感器应用于表贴式永磁同步电机转速环控制系统。在传统PI控制的基础上,转速环采用积分钳位型抗积分饱和方法,增加给定输入微分前馈环节和控制增益环节,增强转速环系统跟踪响应性能。分析无阻尼自然频率和阻尼比两者参数选取对系统转矩扰动和角速度测量噪声抑制能力的影响,证明系统抗转矩扰动性能与抑制噪声性能之间存在矛盾。针对该问题,设计以电机转子角速度为状态变量的新型滑模观测器对角速度进行观测,将其直接引入至转速闭环系统反馈,避免角速度反馈噪声对转速跟踪性能造成影响。实验结果验证了该理论分析的正确性与控制策略的可行性。

Traditional speed loop PI control of permanent magnet synchronous motor(PMSM) has poor speed tracking performance. Aiming at this problem, a compound PI controller is designed for the speed loop control system of surface PMSM(SPMSM). On the basis of traditional PI control, the integral clamping anti-integral saturation method is adopted in the speed loop, and the given input differential feedforward link and control gain link are added to enhance the tracking response performance of the speed loop system. The influence of the parameters of undamped natural frequency and damping ratio on the system’s torque disturbance and angular speed measurement noise suppression ability is analyzed, which proves there is a contradiction between anti-torque disturbance and noise suppression performance of the system. For this reason, a new sliding mode observer(SMO) with speed as the state variable is designed to observe the motor speed, which is directly introduced into the closed-loop speed feedback system to avoid the influence of speed feedback noise on speed tracking performance. The experimental results verify the correctness of the theoretical analysis and the feasibility of the control strategy.