基于改进跟踪微分器前馈的PMSM复合控制

PMSM composite control based on improved tracking differentiator feedforward

为实现位置伺服系统的无超调快速跟踪,提出一种基于改进非线性跟踪微分器前馈的永磁同步电机复合控制方法.在基于传统跟踪微分器前馈控制方法的基础上,设计了用于位置指令前馈环节的改进跟踪微分器,针对加速度因子调参问题,结合系统电流限幅给出了加速度因子计算公式,简化了调参过程;针对阶跃响应超调问题,引入最大速度约束参数实现系统对阶跃指令的无超调快速跟踪;针对连续信号跟踪滞后问题,引入超前计算步长参数实现对输入指令的超前预测,补偿了系统的跟踪滞后.仿真和实验结果均表明:该方法能实现控制系统对于阶跃指令快速且无超调的跟踪,在给定实验条件下能使系统的超调量由4.4%减小到0.0%,同时能使系统对于给定正弦指令的最大跟踪误差降低34.4%,显著提高了系统的位置跟踪性能.

To realize the fast tracking of position servo system without overshoot,a compound control method of permanent magnet synchronous motor based on improved nonlinear tracking differentiator feedforward was proposed.Based on the feed-forward control method of the traditional tracking differentiator,an improved tracking differentiator was designed for the feed-forward link of the position command.Aiming at the problem of acceleration factor adjustment,the formula of acceleration factor was given in combination with the current limiting of the system,which simplified the adjustment process.Aiming at the step response overshoot problem,the maximum speed constraint parameter was introduced to realize the fast tracking of step instruction without overshoot.Aiming at the problem of continuous signal tracking lag,the step parameter of advance calculation was introduced to realize the advance prediction of input instruction,which compensated the tracking lag of the system.Simulation and experimental results show that the proposed method can track step instructions quickly without overshoot,reduce the overshoot of the system from 4.4%to 0.0%under given experimental conditions,and reduce the maximum tracking error of the system for given sinusoidal instructions by 34.4%,effectively improving the system position tracking performance.