永磁同步伺服系统速度PI鲁棒控制器设计  

Design of Speed PI Robust Controller for Permanent Magnet Synchronous Servo System

作　　者：王涵 曾岳南[1] 龚文全 WANG Han;ZENG Yue-nan;GONG Wen-quan(Guangdong University of Technology,Guangzhou 510006,China)

机构地区：[1]广东工业大学,自动化学院,广东广州510006

出　　处：《电力电子技术》2020年第8期75-77,100,共4页Power Electronics

摘　　要：永磁同步伺服系统在加工过程中,系统的转动惯量可能会随着负载的变化而改变,当转动惯量变化较大时,甚至会使系统变得不稳定。为了解决此问题,基于灵敏度指标设计永磁同步伺服系统速度环比例积分(PI)控制器,首先以系统速度环控制对象和控制器的传递函数为基础,将控制器与控制对象传递函数的零极点相消并得出速度环开环传递函数,再以灵敏度作为性能指标并结合系统的开环传递函数,整定出控制器比例积分增益,提升系统的稳定裕度,使系统具有较优的鲁棒稳定性,最后通过仿真和实验验证了该方法的有效性。In the process of permanent magnet synchronous servo system,the rotational inertia of the system may change with the change of load,and even make the system become unstable when the rotational inertia changes greatly.In order to solve this problem,the speed loop proportional integral(PI)controller of the permanent magnet synchronous servo system is designed based on the sensitivity index.Firstly,based on the system speed loop control object and the transfer function of the controller,the zero pole of the controller and the transfer function of the control object is eliminated and the velocity loop open-loop transfer function is obtained.Then,the sensitivity is taken as the performance index and combined with the open-loop transfer function of the system,the proportional integral gain of the controller is adjusted to enhance the stability margin of the system and make the system have more robust stability.Finally,the effectiveness of the method is verified by simulation and experiment.

关 键 词：永磁同步伺服系统 速度环 灵敏度 鲁棒稳定性 

分 类 号：TM383.4[电气工程—电机]