基于内模原理的抑制永磁同步电机稳态转速波动的方法.docxVIP

基于内模原理的抑制永磁同步电机稳态转速波动的方法孙志远，李世华复杂工程系统测量与控制教育部重点实验室, 江苏省南京市 210096 E-mail: lsh@seu.edu.cn摘 要: 本文主要针对永磁同步电机（PMSM）在稳态运行时转速中存在的过度波动问题，该稳态转速波动是由 系统中存在的各种来源不同的周期性干扰导致的，如：齿槽转矩、定子电流测量误差、磁通谐波、负载转矩和 死区效应等，这些因素引起的周期性干扰有些作用于PMSM矢量控制系统的速度环中，有些则作用于电流环中。 与目前普遍采用的在速度环控制器中嵌入内模环节来抑制稳态转速波动的策略不同，本文根据周期性干扰产生 的机理，分别设计基于内模原理的速度环和电流环控制器来抑制不同产生机理的周期性干扰。实验对比结果表 明，该方法在抑制稳态转速波动性能上比仅在速度环中嵌入内模的方法好，能够进一步减小稳态转速波动。 关键词: 永磁同步电机，内模原理，稳态转速波动抑制Method of Eliminating Velocity Ripple in Permanent Magnet Synchronous Motor Based on Internal Model PrincipleSun Zhi-yuan, Li Shi-huaKey Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Southeast University,Nanjing, Jiangsu 210096, P. R. China E-mail: lsh@seu.edu.cnAbstract: This paper addresses the problem of steady-state velocity ripple elimination in permanent magnet synchronous motor(PMSM). The velocity ripples are caused by periodic disturbances in the system, such as: cogging torque, measurement errors of stator current, magnetic flux harmonic, load torque and dead time effect etc. Some of these periodic disturbances affect the speed loop of PMSM vector control system, and the others affect the current loop. Different from the usual way of designing speed loop controller only, according to the generation mechanisms of these periodic disturbances, the speed loop controller and current loop controller are designed based on internal model principle(IMP). The experimental results show that suppressing the velocity ripple in both speed loop and current has a better performance than only in speed loop.Key Words: permanent magnet synchronous motor, internal model principle, steady-state velocity ripple elimination?1引言(Instructions)永磁同步电机具有体积小，结构简单，功率因数 高，运行可靠，环境适应能力强等优点。近几十年来 永磁材料性能的大幅度提高，使得永磁同步电机逐渐 成为伺服执行机构的主流执行器，特别在机器人、航 空航天、数控机床等高精度控制领域[1]。实际中永磁同步电机伺服系统是一个非线性、强 耦合的系统[2]。目前，最常采用的PI控制难以满足高 性能的要求。永磁同步电机在稳态运行过程中存在着 稳态转速波动，降低了系统的稳态精度，限制其在许 多高精度场合的应用。近些年来研究PMSM稳态波动 产生机理的文献很多，大多数观点认为，PMSM产生 稳态转速波动是因为系统中存在的周期性干扰使 PMSM出现转矩脉