永磁同步电机系数自整定速度补偿控制方法

宋哲; 杨军; 陶涛; 黄建; 梅雪松

doi:10.7652/xjtuxb202206009

您当前的位置：

首页 >

文章列表页 >

永磁同步电机系数自整定速度补偿控制方法

—————————————————————— | 更新时间：2025-04-27

- 永磁同步电机系数自整定速度补偿控制方法
- Coefficient Self-Tuning Speed Compensation Control Method for Permanent Magnet Synchronous Motor
- 西安交通大学学报 2022年56卷第6期页码：67-75
- 作者机构：
  
  1. 中国航天科工集团北京自动化控制设备研究所,北京,100074
  2. 西安交通大学陕西省智能机器人重点实验室,西安,710049
  3. 西安交通大学机械制造系统工程国家重点实验室,西安,710049
- 作者简介：
  
  : 2021-11-01。作者简介: 宋哲(1988—),男,博士,工程师
  梅雪松(通信作者),男,教授,博士生导师。基金项目: 国家重点研发计划资助项目(2018YFB1701200)
- 基金信息：
  
  : 2021-11-01。作者简介: 宋哲(1988—),男,博士,工程师;梅雪松(通信作者),男,教授,博士生导师。基金项目: 国家重点研发计划资助项目(2018YFB1701200);陕西省科技重大专项资助项目(S2020-ZDZX-ZNZC-0002);北京自动化控制设备研究所创新基金资助项目
- DOI：10.7652/xjtuxb202206009
  中图分类号： TM351
- 网络首发：2022-06-10，
  
  纸质出版：2022
- 稿件说明：
移动端阅览
宋哲, 杨军, 陶涛, 等. 永磁同步电机系数自整定速度补偿控制方法[J]. 西安交通大学学报, 2022,56(6):67-75.

SONG Zhe, YANG Jun, TAO Tao, et al. Coefficient Self-Tuning Speed Compensation Control Method for Permanent Magnet Synchronous Motor[J]. 2022, 56(6): 67-75.
宋哲, 杨军, 陶涛, 等. 永磁同步电机系数自整定速度补偿控制方法[J]. 西安交通大学学报, 2022,56(6):67-75. DOI： 10.7652/xjtuxb202206009.

SONG Zhe, YANG Jun, TAO Tao, et al. Coefficient Self-Tuning Speed Compensation Control Method for Permanent Magnet Synchronous Motor[J]. 2022, 56(6): 67-75. DOI： 10.7652/xjtuxb202206009.

摘要

为了提高永磁同步电机(PMSM)速度伺服系统的抗转矩扰动性能

提出一种系数自整定的自适应速度补偿控制方法。首先

利用状态空间表示法

设计了PMSM负载转矩的降维状态观测器

实现了负载转矩的实时辨识与估计; 然后

将转矩辨识值补偿到PMSM速度控制器的输出端

作为电流控制器的补偿输入

实现了自适应速度补偿

提高了系统的抗扰性。针对因转动惯量变化而影响负载转矩辨识的问题

分析了惯量的时变特性对转矩观测结果的影响规律

并提出一种基于sigmoid函数的补偿系数自整定的控制方法。该方法根据PMSM的电磁转矩和观测器的转矩辨识值

利用自整定sigmoid函数在线实时调节补偿系数

实现了自适应速度补偿的参数自调整。实验结果表明:所提出的补偿系数自整定控制方法的速度恢复时间较快

相比常规固定补偿系数的控制方法

速度调节时间从120 ms减少到100 ms; 该方法减小了因惯量偏离真实值而导致转矩辨识出现超调或偏差时

通过前馈补偿对速度控制造成的冲击和振荡

有效提高了PMSM伺服系统的速度控制性能。

Abstract

An adaptive speed compensation control method with coefficient self-tuning is proposed to improve the anti-torque disturbance performance of the permanent magnet synchronous motor(PMSM)speed servo system. Firstly

a reduced order state observer of PMSM is designed using the state space representation method to realize real time identification and estimation of load torque. Then

the torque identification value is compensated to the output of the PMSM speed controller as the compensation input of the current controller

which realizes the adaptive speed compensation and improves the torque disturbance resistance. In terms of the problem that the torque identification is affected by the change of rotational inertia

the influence law of the time-varying characteristics of inertia on the torque observation results is analyzed

and a self-tuning control method of compensation coefficient based on the sigmoid function is proposed. According to the electromagnetic torque and torque identification value

the self-tuning sigmoid function is used to adjust the compensation coefficient online and in real time

so the parameter self-tuning of adaptive speed compensation is realized. Experimental results show that speed recovery time of the proposed coefficient self-tuning control method is faster. Compared with the conventional fixed coefficient control method

the speed adjustment time is reduced from 120 ms to 100 ms. This method can reduce the impulse and oscillation caused by speed compensation when torque identification overshoot or deviation occurs due to the deviation of inertia from its true value

and improve the speed control performance of PMSM servo system effectively.

关键词

Keywords

references

LI Longfei, XIAO Jie, ZHAO Yun, et al. Robust position anti-interference control for PMSM servo system with uncertain disturbance [J]. CES Transactions on Electrical Machines and Systems, 2020, 4(2): 151-160.

ZHANG Tianru, XU Zhuang, LI Jing, et al. A third-order super-twisting extended state observer for dynamic performance enhancement of sensorless IPMSM drives [J]. IEEE Transactions on Industrial Electronics, 2020, 67(7): 5948-5958.

梁戈, 黄守道, 李梦迪, 等. 基于高阶快速终端滑模扰动观测器的永磁同步电机机械参数辨识 [J]. 电工技术学报, 2020, 35(S2): 395-403.

LIANG Ge, HUANG Shoudao, LI Mengdi, et al. A high-order fast terminal sliding-mode disturbance observer based on mechanical parameter identification for PMSM [J]. Transactions of China Electrotechnical Society, 2020, 35(S2): 395-403.

赵峰, 罗雯, 高锋阳, 等. 考虑滑模抖振和扰动补偿的永磁同步电机改进滑模控制 [J]. 西安交通大学学报, 2020, 54(6): 28-35.

ZHAO Feng, LUO Wen, GAO Fengyang, et al. An improved sliding mode control for PMSM considering sliding mode chattering and disturbance compensation [J]. Journal of Xi'an Jiaotong University, 2020, 54(6): 28-35.

张海洋, 许海平, 方程, 等. 基于负载转矩观测器的直驱式永磁同步电机新型速度控制器设计 [J]. 电工技术学报, 2018, 33(13): 2923-2934.

ZHANG Haiyang, XU Haiping, FANG Cheng, et al. Design of a novel speed controller for direct-drive permanent magnet synchronous motor based on load torque observer [J]. Transactions of China Electrotechnical Society, 2018, 33(13): 2923-2934.

LI Liyi, PEI Genji, LIU Jiaxi, et al. 2-DOF robust b∞control for permanent magnet synchronous motor with disturbance observer [J]. IEEE Transactions on Power Electronics, 2021, 36(3): 3462-3472.

HONG D K, HWANG W, LEE J Y, et al. Design, analysis, and experimental validation of a permanent magnet synchronous motor for articulated robot applications [J]. IEEE Transactions on Magnetics, 2018, 54(3): 1-4.

LIU Kan, ZHU Ziqiang. Fast determination of moment of inertia of permanent magnet synchronous machine drives for design of speed loop regulator [J]. IEEE Transactions on Control Systems Technology, 2017, 25(5): 1816-1824.

关欣, 李叶松. 基于实时负载转矩反馈补偿的永磁同步电机变增益PI控制 [J]. 电工技术学报, 2016, 31(23): 38-45.

GUAN Xin, LI Yesong. Variable gain PI control method for permanent magnet synchronous motor based on load torque feedback real-time compensation [J]. Transactions of China Electrotechnical Society, 2016, 31(23): 38-45.

WANG Mingyi, YANG Rui, ZHANG Chengming, et al. Inner loop design for PMLSM drives with thrust ripple compensation and high-performance current control [J]. IEEE Transactions on Industrial Electronics, 2018, 65(12): 9905-9915.

LIAN Chuanqiang, XIAO Fei, GAO Shan, et al. Load torque and moment of inertia identification for permanent magnet synchronous motor drives based on sliding mode observer [J]. IEEE Transactions on Power Electronics, 2019, 34(6): 5675-5683.

罗德荣, 苏欣, 贺锐智, 等. 严重不平衡负载下盘式对转永磁同步电机的双转子直接转矩控制研究 [J]. 电工技术学报, 2019, 34(22): 4678-4686.

LUO Derong, SU Xin, HE Ruizhi, et al. Dual-rotor direct torque control strategy of disk-type contra-rotating permanent magnet synchronous motor under heave unbalanced load torque [J]. Transactions of China Electrotechnical Society, 2019, 34(22): 4678-4686.

CHOI H H, JUNG J W. Discrete-time fuzzy speed regulator design for PM synchronous motor [J]. IEEE Transactions on Industrial Electronics, 2013, 60(2): 600-607.

CHAOUI H, KHAYAMY M, OKOYE O. Adaptive RBF network based direct voltage control for interior PMSM based vehicles [J]. IEEE Transactions on Vehicular Technology, 2018, 67(7): 5740-5749.

CHAOUI H, KHAYAMY M, OKOYE O, et al. Simplified speed control of permanent magnet synchronous motors using genetic algorithms [J]. IEEE Transactions on Power Electronics, 2019, 34(4): 3563-3574.

盖江涛, 黄守道, 黄庆, 等. 基于负载观测的永磁电机驱动系统自抗扰控制 [J]. 电工技术学报, 2016, 31(18): 29-36.

GAI Jiangtao, HUANG Shoudao, HUANG Qing, et al. Active-disturbance rejection controller for permanent magnet motor drive system control based on load observer [J]. Transactions of China Electrotechnical Society, 2016, 31(18): 29-36.

LEU V Q, CHOI H H, JUNG J W. Fuzzy sliding mode speed controller for PM synchronous motors with a load torque observer [J]. IEEE Transactions on Power Electronics, 2012, 27(3): 1530-1539.

吴春, 傅子俊, 孙明轩, 等. 基于扩张状态观测器负载转矩补偿的永磁同步电机全速范围无位置传感器控制 [J]. 电工技术学报, 2020, 35(S1): 172-181.

WU Chun, FU Zijun, SUN Mingxuan, et al. Sensorless control of PMSM in all speed range based on extended state observer for load toque compensation [J]. Transactions of China Electrotechnical Society, 2020, 35(S1): 172-181.

鲁文其, 胡育文, 梁骄雁, 等. 永磁同步电机伺服系统抗扰动自适应控制 [J]. 中国电机工程学报, 2011, 31(3): 75-81.

LU Wenqi, HU Yuwen, LIANG Jiaoyan, et al. Anti-disturbance adaptive control for permanent magnet synchronous motor servo system [J]. Proceedings of the CSEE, 2011, 31(3): 75-81.

LASCU C, ANDREESCU G D. PLL position and speed observer with integrated current observer for sensorless PMSM drives [J]. IEEE Transactions on Industrial Electronics, 2020, 67(7): 5990-5999.

HE Long, WANG Fengxiang, WANG Junxiao, et al. Zynq implemented Luenberger disturbance observer based predictive control scheme for PMSM drives [J]. IEEE Transactions on Power Electronics, 2020, 35(2): 1770-1778.

BOZORGI A M, FARASAT M, JAFARISHIADEH S. Model predictive current control of surface-mounted permanent magnet synchronous motor with low torque and current ripple [J]. IET Power Electronics, 2017, 10(10): 1120-1128.

ANDERSSON A, THIRINGER T. Motion sensorless IPMSM control using linear moving horizon estimation with Luenberger observer state feedback [J]. IEEE Transactions on Transportation Electrification, 2018, 4(2): 464-473.

YIN Zhonggang, GONG Lei, DU Chao, et al. Integrated position and speed loops under sliding-mode control optimized by differential evolution algorithm for PMSM drives [J]. IEEE Transactions on Power Electronics, 2019, 34(9): 8994-9005.

宋哲, 杨军, 梅雪松, 等. 永磁同步电机抗惯量扰动自适应速度控制 [J]. 西安交通大学学报, 2020, 54(12): 14-21.

SONG Zhe, YANG Jun, MEI Xuesong, et al. An adaptive speed control method with anti-inertia disturbance performance for permanent magnet synchronous motors [J]. Journal of Xi'an Jiaotong University, 2020, 54(12): 14-21.

浏览量

下载量

CSCD

文章被引用时，请邮件提醒。

提交

工具集

关联资源

采用d-q同步旋转坐标系的永磁同步电机无位置传感器控制

用于重型电动卡车的双电机与双行星排新驱动装置设计及动力学特性研究

面向永磁同步电机无位置传感器驱动的新型Κ∞等效滑模控制

面向永磁同步电机无传感器控制的新型已知回归项有效磁链全阶模型

永磁同步电机的非线性自适应解耦控制