基于干扰抑制和非线性摩擦力补偿的速度环PI控制器抗饱和设计  

Anti-windup design for PI-type speed controller based on nonlinear compensation and disturbance suppression

作　　者：王慎航 王云宽[1] 胡建华[1] 秦晓飞[1] 郑军[1] 刘娜[1] 

机构地区：[1]中国科学院大学自动化研究所,北京100190

出　　处：《中南大学学报（自然科学版）》2015年第9期3224-3230,共7页Journal of Central South University:Science and Technology

基　　金：国家科技重大专项(2013ZX04007-011);"十一五"数控重大专项(2009ZX04010-023);福建省科技重大专项(2012HZ0006-4)~~

摘　　要：针对永磁同步电机速度调节器积分饱和导致动态品质变差的问题,提出一种新型的抗饱和(AW)设计方法。该AW方法首先把模型的不确定性视为系统的干扰;然后为了改善系统性能和提高抗干扰能力,在比例积分(PI)控制策略基础上,对速度环设计一种基于摩擦模型补偿和扰动观测补偿的复合控制方法;最后把PI控制器退饱和后从比例(P)模式重新进入PI模式的系统响应看作是带有初始值的系统响应,同时利用时域下的系统误差动态响应方程推导出系统无超调的误差和积分条件,当系统进入饱和时,系统以最大加速度运行,直到满足条件才重新进入PI模式,并给积分赋初始值。研究结果表明:该方法确保退饱和系统的优良的动态性能和无超调运行。与现有条件积分方法及其改进的方法相比,仿真和实验结果验证该新型AW设计的可行性及优越性。In order to solve the problem of dynamic quality deterioration caused by the proportional plus integral（PI） integral saturation of speed regulator in permanent magnet synchronous motor servo system, a novel anti-windup（AW） design was proposed. Uncertainties in the mode were regarded as a disturbance of the system by the AW method firstly. Then in order to improve the system low performance and disturbance rejection property a compound control method, which combined model-based friction compensation with disturbance observer compensation, was designed for speed loop based on PI control strategy. Finally, the desaturation system response of re-entering the PI mode from proportional（P） mode was used as a system response with an initial value, and the error and integral value condition which ensured the system non-overshoot were derived using dynamic responses of the system error equation in time-domain. When the system was saturated, it ran at maximum acceleration. Until the condition was satisfied, the PI mode was re-entered and an initial value was assigned to the integrator. The results show that this method ensures the desaturation system excellent dynamic performance and non-overshoot operation. Compared with the existing conditional integration and its improved methods, the simulated and experimental results demonstrate the feasibility and advantage of the new AW design.

关 键 词：永磁同步电机(PMSM) 抗积分饱和 PI速度控制器 非线性摩擦力 干扰观测器 无超调 

分 类 号：TP276[自动化与计算机技术—检测技术与自动化装置]