基于惯量辨识的永磁同步电机PI自整定控制

PI Self-tuning Control of Permanent Magnet Synchronous Motor Based on Inertia Identification

永磁同步电机的转动惯量影响伺服系统速度环的响应性,进而影响伺服系统的控制性能。针对转动惯量变化时速度环响应性差的问题,采用基于惯量辨识的永磁同步电机PI参数自整定的方法来解决。通过电磁转矩和转速的关系表达式,基于带遗忘因子的最小二乘法对转动惯量进行在线辨识。将辨识后的结果对速度环的PI参数进行实时调整,确保系统具有良好的动态性能。在Simulink环境下建立仿真模型。结果表明,方法提高了转速的跟踪性和转换响应性。

The moment of inertia of permanent magnet synchronous motors(PMSM)affects the responsiveness of the speed loop of the servo system,which in turn affects the control performance of the servo system.Aiming at the problem of poor response of the speed loop when the moment of inertia changes,a method of self-tuning PI parameters of PMSM based on inertia identification was used to solve the problem.Through the expression of the relationship between electromagnetic torque and speed,based on the least square method with forgetting factor,the moment of inertia was identified online.The PI parameters of the speed loop was adjusted with the identification results in real time to ensure that the system has good dynamics performance.A simulation model was set up in Simulink environment.The results show that the method improves speed tracking and conversion responsiveness.