AGV调速系统参数辩识与PI自整定研究  

Study on Parameter Identification and PI Self-adjusting of AGV Speed Control System

作　　者：张好明[1,2] 王应海[2] 

机构地区：[1]铜陵学院电气信息工程系,安徽铜陵244000 [2]苏州工业园区职业技术学院电气工程系,江苏苏州215021

出　　处：《微电机》2013年第5期51-54,60,共5页Micromotors

摘　　要：传统AGV系统控制器不具有参数在线整定功能,难以满足高性能调速系统要求。根据速度环等效原理和经典控制理论推导出PI参数与转动惯量的数学关系;根据永磁同步电机的运动方程和离散模型参考自适应理论,建立永磁电动机转动惯量辩识模型;通过软件方式实现PI参数在线自整定。基于ADSP2188的全数字交流调速实验结果证明PI自整定可有效地消除系统的超调,减少响应时间。Controller of traditional AGV system hasn＇t the function of self-adjusting, which can＇t satisfy with high performance speed control system need. Relation between PI parameters and inertia was developed on the basic of speed loop equivalent principle and classical control theory; Inertia identification model was de- veloped on the basic of mechanical equation and discrete model reference adaptive control theory of perma- nent magnet synchronous motor; PI parameter on-line self-adjusting was done through software. Full-digital AC speed control results based on ADSP-2188 prove PI self-adjusting can eliminate speed overshooting, de- crease response time effectively.

关 键 词：自动导引车 永磁同步电动机 转动惯量 参数辩识 PI自整定 

分 类 号：TM351[电气工程—电机] TM341