基于矢量控制的交流永磁电动机伺服系统研究

AC permanent magnet motor servo system based on vector control

永磁同步电动机伺服系统具有较高的性能指标,被广泛应用于智能机器人、风力发电等运动伺服系统中。重点研究了永磁同步电动机的电流环设计,通过建立永磁同步电动机的数学模型,分析电磁转矩与电流的关系,对逆变器采用一种基于反馈解耦的间接电流控制,对i_(d)、i_(q)解耦,引入PI控制器,通过控制逆变器的输出电压来调节逆变器的输出电流。为提高直流电压利用率,逆变器采用SVPWM调制方法。最后,在MATLAB/Simulink中搭建仿真模型,通过观测永磁同步电动机在负载启动、负载增大时的转矩、转速等波形可知,本文提出的电流环设计,可以使得伺服系统具有较好的抗扰动性能和跟随性能,同时,在负载发生变化时,具有较快的响应速度。

Permanent magnet synchronous motor servo system is widely used in intelligent robot,wind power generation and other motion servo system because of its high performance index.This paper focuses on the current loop design of permanent magnet synchronous motor.By establishing the mathematical model of permanent magnet synchronous motor and analyzing the relationship between electromagnetic torque and current,the indirect current control based on feedback decoupling is adopted for the inverter.i_(d) and i_(q) are decoupled,and PI controller is introduced to regulate the output current of the inverter by controlling the output voltage of the inverter.In order to improve the utilization of DC voltage,the inverter adopts the SVPWM modulation method.Finally,the simulation model is built in MATLAB/Simulink.Through observing the waveform of torque and speed of permanent magnet synchronous motor when the load starts and the load increases,it is proved that the current loop design proposed in the paper can make the servo system have better anti-disturbance performance and following performance,and at the same time,it has a faster response speed when the load changes.