考虑环路带宽设计指标的直线电动机伺服控制器整定方法

Tuning Method of Linear Motor Servo Controller by Considering Loop Bandwidth Design Index

永磁同步直线电动机伺服环路参数整定目标不明确、流程不清晰,就此提出一种考虑频域带宽设计指标的伺服控制器参数整定方法。结合永磁同步直线电动机物理模型和伺服环路带宽设计需求,通过理论计算求得电流环和速度环的控制参数适配值。根据Simulink仿真分析和环路带宽测试实验,表明所提基于频域带宽设计指标控制器参数整定方法的正确性。该实验的实施有助于学生理解、掌握永磁同步直线电动机的原理和级联式PI控制器的整定方法,提高学生的实践能力,达到了教学的目的。

The servo loop parameter tuning of permanent magnet synchronous linear motor is not clear and the process is also not clear,hence,a servo controller parameter tuning method considering the frequency domain bandwidth design index is proposed.Based on the physical model of permanent magnet synchronous linear motor and the bandwidth design requirements of servo loop,the adaptive values of controller parameters of current loop and speed loop are obtained by theoretical calculation.According to Simulink simulation analysis and loop bandwidth experiments,the correctness of the controller parameter tuning method based on frequency domain bandwidth design index proposed in this paper is verified.The experiment helps students understand and master the principle of permanent magnet synchronous linear motor and the setting of cascade PI controller,improves their practical ability and achieves the purpose of teaching.