基于频域分析的PMSM双闭环PI控制器整定方法  

Tuning Method for PI Controllers of PMSM Dual Closed-Loop Driving System Based on Frequency-Domain Analysis

作　　者：江腾耀 李伟[1] 朱超 王伟伟 杨蕴萌 邱照原 JIANG Tengyao;LI Wei;ZHU Chao;WANG Weiwei;YANG Yunmeng;QIU Zhaoyuan(Northwest Institute of Mechanical&Electrical Engineering,Xianyang 712099,Shaanxi,China;Xianyang Office,Xi′an Military Representative Bureau,PLAGF,Xianyang 712000,Shaanxi,China)

机构地区：[1]西北机电工程研究所,陕西咸阳712099 [2]陆军西安军事代表局驻咸阳地区军事代表室,陕西咸阳712000

出　　处：《火炮发射与控制学报》2024年第1期52-61,共10页Journal of Gun Launch & Control

摘　　要：以永磁同步电机(PMSM)双闭环调速系统为对象,在对其数学模型进行合理简化的基础上,综合考虑了逆变器开关周期、电流和速度滤波等环节的影响,给出了一种在频域进行PI控制器参数设计的整定方法。通过建立双环的数学模型,得到关于开环频域特征量的解析式,根据电流环在中低频段的特性以及转速环中阻尼系数难以精确测定的问题,分析推导了电流环和转速环PI参数简化设计的方法。利用工程经验将闭环时域指标转化开环频域特征量,并结合各类约束条件合理界定其取值范围,由此得到的PI控制器可以兼顾快速性和稳态跟踪能力。仿真和实物实验验证了整定方法的可行性,该方法确立了双环控制器参数与其对应的开环截止频率和相位裕度的解析式,并明确了开环频域特征量与闭环时域指标的关系,具有较强的工程参考和应用价值。Taking the dual closed-loop driving system of permanent magnet synchronous motor(PMSM)as the object,a method of tuning PI parameters in frequency domain was proposed based on simplified mathematic model,and factors including inverter switching cycle,current and velocity filtering were analyzed.The expression of open-loop frequency domain parameters were derived by dual loop model.The simplified design method of PI parameters was analyzed and deduced according to the parameters of the current loop in low and middle frequency bands and inaccurately measuring of dam-ping coefficient of the speed loop.Time domain parameters were converted into the open-loop frequency domain parameters by engineering experience and their values were defined reasonably according to various constraints.The feasibility of the tuning method was verified by simulation and practical experiments.This method defines parameters of dual loop controller,expressions of open-loop cut-off frequency and phase margin and the relationship between the open-loop frequency domain parameters and close-loop time domain parameters,which has a high enginering reference and application value.

关 键 词：永磁同步电机 电流环 转速环 PI参数 频域分析 

分 类 号：TM351[电气工程—电机]