永磁同步电动机转速伺服系统PI控制器的一种新设计方法  

A Novel Design Method of PI Controller for Permanent Magnetic Synchronous Motor Speed Servo System

作　　者：左月飞[1] 刘闯[1] 张捷[1] 符慧[1] 张涛[1] 

机构地区：[1]南京航空航天大学自动化学院南京210016

出　　处：《电工技术学报》2016年第13期180-188,共9页Transactions of China Electrotechnical Society

基　　金：国家自然科学基金(51377076);江苏省“六大人才高峰”项目(YPC13013);江苏省产学研资金(BY2014003-09)资助

摘　　要：提出了PI控制器的一种新设计方法,将所有已知和未知的扰动集中为总扰动,简化系统模型,再用积分器作为扰动观测器对总扰动进行观测并补偿。新型PI控制器中的参数与系统性能之间的关系非常简单,易于整定。针对连续变化输入,新型PI控制器引入了输入微分前馈,具有更好的跟踪性能,且输入微分前馈仅是一个微分器,与电动机参数无关,进一步简化了控制器的设计。采用离散最速跟踪微分器对阶跃输入安排过渡过程,可以消除PI控制系统阶跃响应的超调,同时提高系统阶跃响应对控制器参数的不敏感性。实验结果验证了所提方法的有效性。A novel design method of the PI controller is proposed in this paper. The controller lumps variousknown and unknown quantities that affect the system performance into a total disturbance, simplifies the systemmodel, and then uses the integrator as an observer to realize total disturbance estimation and rejection. Theparameters in the novel PI controller have sim ple relationship w ith system perform ance, and are easy totune. W ith the input derivative feedforward （ I D F ） used in the novel PI co n tro lle r, better performance of trackingthe continuous varying input can be obtained. The ID F is ju st a differentiator irrelative to the parameters of thepermanent magnetic synchronous motor （ P M S M ） , w hich further sim plifies the controller design process. Thediscrete fastest tracking differentiator （ D F T D ） is used to dim inish the overshoot in the step response, whichimproves the parameter insensitivity of the system at the same time. Extensive experiments are performed to verifythe va lid ity of the proposed algorithm.

关 键 词：永磁同步电动机 PI控制器 参数整定 连续变化输入 输入微分前馈 过渡过程 

分 类 号：TM351[电气工程—电机]