基于改进的前馈补偿自抗扰控制伺服系统转速特性研究
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摘要
针对永磁同步电机转速性能差和转矩脉动的问题,对PMSM的转速启动响应特性、系统输出转矩、转矩脉动对系统的稳态特性的影响等方面进行了研究。为了提高系统响应时间和转速运行的平稳性,采用了基于改进的前馈补偿自抗扰控制策略,建立了伺服系统数学模型和运动方程,设计了速度环和电流环控制策略;利用扩张状态观测器(ESO)对转速和系统扰动进行了实时估计,并对其参数进行了修正;采用加速度前馈补偿对PMSM的扰动进行了补偿,运用专家控制思想,对比例和积分系数进行了调节;利用Matlab对理论分析进行了仿真,在测控机上对改进前后转速响应时间、转矩输出以及抗扰动性进行了测试。研究结果表明:改进后的控制策略能够实现转速快速响应和更好的稳态精度,系统输出转矩稳定、抗扰动性强。
Aiming at the problem of rotational speed performance and torque ripple of permanent magnet synchronous motor( PMSM),the effects of PMSM's speed start response characteristics,system output torque and torque ripple on the steady state characteristics of the system were studied. In order to improve the response time and speed operation of the system,a mathematical model and a motion equation of the servo system which based on the improved feedforward compensation active disturbance rejection control strategy were established,and the speed loop and the current loop control strategy were designed. By using the extended state observer( ESO),speed and system disturbance were estimated for real time and the parameter of both were corrected. And the acceleration feed-forward compensation was used to compensate the disturbance of PMSM. The proportion and integral coefficient were adjusted by using the expert control idea. The Matlab was used to simulate the theoretical analysis,and the speed response time,torque output and the disturbance resistance before and after improvement were tested on the test and control machine. The results indicate that the improved control strategy can achieve fast speed response and better steady-state accuracy,making the system have stable output torque and good disturbance resistance.
Aiming at the problem of rotational speed performance and torque ripple of permanent magnet synchronous motor( PMSM),the effects of PMSM's speed start response characteristics,system output torque and torque ripple on the steady state characteristics of the system were studied. In order to improve the response time and speed operation of the system,a mathematical model and a motion equation of the servo system which based on the improved feedforward compensation active disturbance rejection control strategy were established,and the speed loop and the current loop control strategy were designed. By using the extended state observer( ESO),speed and system disturbance were estimated for real time and the parameter of both were corrected. And the acceleration feed-forward compensation was used to compensate the disturbance of PMSM. The proportion and integral coefficient were adjusted by using the expert control idea. The Matlab was used to simulate the theoretical analysis,and the speed response time,torque output and the disturbance resistance before and after improvement were tested on the test and control machine. The results indicate that the improved control strategy can achieve fast speed response and better steady-state accuracy,making the system have stable output torque and good disturbance resistance.
引文
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[3]LI Jie,REN Hai-peng,ZHONG Yan-ru.Robust speed controlof induction motor drives using first-order autodisturbancerejectioncontrollers[J].IEEE Transactions on Industry Applications,2015,51(1):712-720.
[4]韩晔,厉虹.改进自抗扰的永磁同步电机直接转矩控制无传感系统研究[J].电机与控制用,2017,44(4):52-59,63.
[5]薛薇,路鸦立.永磁同步电动机的积分分离时变滑模调速控制[J].微特电机,2013,41(8):43-46.
[6]张巍,刘跟平,欧胜.永磁同步电机前馈补偿和单神经元PID控制[J].电气传动,2016,46(12):12-15,18.
[7]左月飞,张捷,刘闯,等.基于自抗扰控制的永磁同步电机位置伺服系统一体化设计[J].电工技术学报,2016,31(11):51-58.
[8]张德民.基于自抗扰的自适应控制在永磁同步电机控制中的应用[J].电机与控制应用,2017,44(4):70-73.
[9]焦姣姣,张兴华.永磁同步电机调速系统的自抗扰控制器设计[J].微电机,2015,48(11):77-80.
[10]韩明文,刘军.基于积分分离的永磁同步直线电机PID控制系统[J].电机与控制应用,2013,40(1):22-24,34.
[11]姜伟,陈康,裘信国,等.基于DSP的工业平缝机伺服控制系统[J].轻工机械,2015,33(6):52-55.
[12]呼文豹,郭锐锋,王志成.基于专家PID控制器的伺服系统速度控制研究[J].计算机工程与设计2013,34(7):2372-2376.