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永磁同步电动机调速系统PI控制器参数整定方法.pdf

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永磁同步电动机调速系统PI控制器参数整定方法.pdf
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2014年5月 电工技术学报 V01.29 No.5第29卷第5期TRANSACTIONS OF CHINA ELECTROTECHNICAL SOCIETY May 2014永磁同步电动机调速系统PI控制器参数整定方法王莉娜 朱(北京航空航天大学自动化科学悦 杨宗军电气工程学院 北京 100191)摘要 针对永磁同步电机(PMSM)调速系统,基于PMSM调速系统的频域模型,推导出了电流和速度PI控制器参数的解析计算式,推导过程考虑了逆变器、死区、延时、反馈滤波器及其他非理想因素的影响,并结合工程实际,明确界定了电流环和速度环的开环截止频率和相位裕度的合理取值范围。根据系统性能要求,设定期望的电流环和速度环开环截止频率和相位裕度,通过所提出方法,可解析计算PI控制器参数;也可根据设定的PI参数,反计算系统的开环截止频率和相位裕度,对设定的PI参数的性能进行预评估。该整定方法建立了系统频域参数、控制器参数和系统时域性能的联系,整定目标直观明确,且参数物理意义明确,计算过程简单易实现。文中通过大量的仿真表明了所提出方法的正确性,实验结果也验证了该整定算法有效可行。关键词:永磁同步电机 PI控制器 参数整定 截止频率 相位裕度中图分类号:TM351Tuning Method for PI Controllers of PMSM Driving SystemWang Lina Zhu Hongyue Yang Zongjb!H(Beihang University Beijing 100191 China)Abstract Based on the model of permanent magnet synchronous motor(PMSM)speed regulatingsystems in frequency domain,closed form expressions for current and speed PI controller parametersare derived.Combined with practical engineering,the design procedure has considered the influencesof inverter,dead time,time delay,feedback filters and other non·ideal factors and clearly defined thereasonable range of open--loop cut·-off frequencies and phase margins for the current loop and the speedloop.According to the system performance requirements,the proposed method achieves PI controllerparameters by setting the desired cut-off frequencies and phase margins of the current loop and thespeed loop.It can also inverse-calculate the cut—off frequencies and phase margins to evaluate theperformance of the given Kp and Ki parameters.This approach establishes the relationship among thesystem frequency domain parameters,controller parameters and system performance in time domain,which has made the tuning target intuitive and clear.With clear physical meaning of the parameters andpractical tuning procedure,the proposed strategy could be useful for a first and robust tuning of electricdrives control architecture.A large number of simulations,as well as experimental results verify thecorrectness and validity of the proposed method.Keywords:P
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