基于结构重构的PMSM速度环PI控制器极点配置

Pole Assignment of PI Controllers Based on Restructuration for Speed Loop of PMSM

对永磁同步电机(PMSM)速度环中非理想因素和滤波环节进行合理简化,构成电流环全状态反馈,推导了电流环零极点抵消的条件及PI控制参数设计方法。在电流环零极点抵消的前提下,提出了一种电流环PI控制的结构重构方法,构成速度环的全状态反馈闭环控制,进一步对速度环的零极点分布与PI控制参数之间的关系进行分析,推导了零极点抵消的条件。再根据期望的系统响应及超调,确定期望极点,并对速度环PI参数进行解析。计算过程简单易实现,通过仿真分析和实验验证了该方法的正确性,具有较强的工程应用参考价值。

The non-ideal factors and filtering in the speed loop of permanent magnet synchronous motor(PMSM) are simplified reasonably, and the full state feedback of the current loop is formed. The condition of zero-pole offset of the current loop and a parameter tuning method of PI control are derived. On the premise of zero-pole offset of the current loop, a restructuration method of the current loop with PI control is proposed in this paper. The full state feedback closed-loop control of the speed loop is constituted. Furthermore, the relationship between the zero-pole distribution of the speed loop and PI control parameters are analyzed, and the condition of zero-pole offset is deduced. According to the desired response and overshoot of the system, the expected pole is determined, and the PI parameters of the speed loop are parsed. The calculation process is simple and easy to realize, and the correctness of the proposed method is verified by the simulation analysis and experiment,The proposed method has strong reference value for engineering application.