永磁同步电机电流环的二自由度内模控制  

Two degrees of freedom internal model control of current loop of permanent magnet synchronous motor

作　　者：黄博 潘盛辉[1] 刘星宇 HUANG Bo;PAN Shenghui;LIU Xingyu(School of Automation,Guangxi University of Science and Technology,Liuzhou 545616,China)

机构地区：[1]广西科技大学自动化学院,广西柳州545616

出　　处：《广西科技大学学报》2024年第4期76-83,共8页Journal of Guangxi University of Science and Technology

基　　金：广西自然科学基金项目(2018GXNSFAA138122)资助。

摘　　要：目前工业上在对永磁同步电机(permanent magnetic synchronous motor,PMSM)进行控制时,常认为电流环的调节过程远快于转速环的调节过程,进而忽略电流环中反电动势扰动项的变化。但对于采用PI控制且机械时间常数与电磁时间常数相差不大或更小的电机而言,若直接对电流环中的反电动势扰动项进行忽略,将会导致电机的动态响应性能恶化。为解决上述问题,本文首先建立了永磁同步电机调速系统的数学模型,并根据此数学模型推导了PI控制条件下电机动态性能变差的原因,以及反电动势扰动项能否进行忽略的条件,针对无法忽略的情况本文在传统内模控制的基础之上设计了一种二自由度内模控制器,该控制器具有2个可独立调节的参数,可分别调节电流环的跟踪特性与鲁棒特性和抗干扰特性。最后,利用Matlab/Simulink对所设计的二自由度内模控制器与传统的PI控制器进行对比仿真实验。结果表明,相比于PI控制器,所设计的二自由度内模控制器使电流环具有更好的跟踪性和鲁棒性,解决了特殊情况下电机动态响应性能变差的问题。At present,when controlling permanent magnet synchronous motors(PMSM)in industry,it is often believed that the adjustment process of the current loop is much faster than the adjustment process of the speed loop,thereby the changes in the back electromotive force disturbance term in the current loop are neglected.However,for motors that use PI control and have a mechanical time constant that is not significantly different from the electromagnetic time constant or smaller,if the back electromotive force disturbance term in the current loop is directly ignored,it will lead to a significant deterioration in the dynamic response performance of the motor.To solve the above problems,this paper first established a mathematical model of the permanent magnet synchronous motor speed control system.Then,based on this mathematical model,the reasons for the dynamic performance deterioration of the motor under PI control conditions and the conditions that whether the back electromotive force disturbance term can be ignored were derived.In response to the situation that cannot be ignored,this paper designed a two degree of freedom internal model controller on the basis of traditional internal model control.This controller had two independently adjustable parameters that respectively adjusted the tracking characteristics,robustness characteristics,and anti-interference characteristics of the current loop.Finally,a comparative simulation experiment was conducted using Matlab/Simulink to compare the designed two degree of freedom internal model controller with traditional PI controller.The results show that the designed two degree of freedom internal model controller enables the current loop to have better tracking and robustness compared to the PI controller,solving the problem of poor dynamic response performance of the motor under special circumstances.

关 键 词：永磁同步电机(PMSM) 电流环 动态特性 内模控制 鲁棒性 

分 类 号：TM301.2[电气工程—电机]