永磁同步电机系数自整定速度补偿控制方法

Coefficient Self-Tuning Speed Compensation Control Method for Permanent Magnet Synchronous Motor

为了提高永磁同步电机(PMSM)速度伺服系统的抗转矩扰动性能,提出一种系数自整定的自适应速度补偿控制方法。首先,利用状态空间表示法,设计了PMSM负载转矩的降维状态观测器,实现了负载转矩的实时辨识与估计;然后,将转矩辨识值补偿到PMSM速度控制器的输出端,作为电流控制器的补偿输入,实现了自适应速度补偿,提高了系统的抗扰性。针对因转动惯量变化而影响负载转矩辨识的问题,分析了惯量的时变特性对转矩观测结果的影响规律,并提出一种基于sigmoid函数的补偿系数自整定的控制方法。该方法根据PMSM的电磁转矩和观测器的转矩辨识值,利用自整定sigmoid函数在线实时调节补偿系数,实现了自适应速度补偿的参数自调整。实验结果表明:所提出的补偿系数自整定控制方法的速度恢复时间较快,相比常规固定补偿系数的控制方法,速度调节时间从120 ms减少到100 ms;该方法减小了因惯量偏离真实值而导致转矩辨识出现超调或偏差时,通过前馈补偿对速度控制造成的冲击和振荡,有效提高了PMSM伺服系统的速度控制性能。

An adaptive speed compensation control method with coefficient self-tuning is proposed to improve the anti-torque disturbance performance of the permanent magnet synchronous motor(PMSM)speed servo system.Firstly,a reduced order state observer of PMSM is designed using the state space representation method to realize real time identification and estimation of load torque.Then,the torque identification value is compensated to the output of the PMSM speed controller as the compensation input of the current controller,which realizes the adaptive speed compensation and improves the torque disturbance resistance.In terms of the problem that the torque identification is affected by the change of rotational inertia,the influence law of the time-varying characteristics of inertia on the torque observation results is analyzed,and a self-tuning control method of compensation coefficient based on the sigmoid function is proposed.According to the electromagnetic torque and torque identification value,the self-tuning sigmoid function is used to adjust the compensation coefficient online and in real time,so the parameter self-tuning of adaptive speed compensation is realized.Experimental results show that speed recovery time of the proposed coefficient self-tuning control method is faster.Compared with the conventional fixed coefficient control method,the speed adjustment time is reduced from 120 ms to 100 ms.This method can reduce the impulse and oscillation caused by speed compensation when torque identification overshoot or deviation occurs due to the deviation of inertia from its true value,and improve the speed control performance of PMSM servo system effectively.