永磁同步电机数学模型和等效电路-中国科学院沈阳计算技术研究所.docVIP

基于先进PID的高性能伺服系统控制方法研究与实现 呼文豹1，2，郭锐锋2，王志成2 1（中国科学院 研究生院，北京100039） 2（中国科学院沈阳计算技术研究所 高档数控国家工程研究中心，辽宁 沈阳 110171） E-mail ：hwb198912@126.com 摘要：伺服系统作为执行机构，在控制过程中需要具有较高的控制精度；较强的抗干扰能力；较快的响应速度；较高的跟踪精度以及良好的稳定性。基于上述要求，本文介绍了永磁同步电机控制原理，分析了PID控制器的原理，设计了用于改善外界负载引起的稳态误差的负载观测器，将专家PID控制器与负载观测器相结合，以实现伺服系统的控制。仿真结果表明，在引入标幺化之后，系统的响应精度提高；负载观测器的设计确保了系统对外界扰动的不敏感性；PID控制器的改进使系统响应速度加快，超调量减小；实验结果也证明了所设计控制方法具有良好的控制性能。伺服系统；磁场定向控制；负载观测器；专家PIDResearch and Implementation of High-performance Servo Control Method Based on Advanced PID HU Wen-bao1,2，GUO Rui-feng2，WANG Zhi-cheng1 1（Graduate University of Chinese Academy of Sciences, Beijing 100039, China） 2（National Engineering Research Center For High-End CNC, Shenyang Institute of Computing Technology, CAS, Shenyang 110171, China） Abstract: As the executing agency of servo system, it is very important to own higher control accuracy, stronger capacity of resisting disturbance, faster response speed, higher tracking accuracy and good stability in the control process. Based on the above-mentioned requirements, the paper presents the principle of permanent magnet synchronous motor control, analyzes the principles of PID controller, designs load observer which is used to improve the steady-state error caused by the external load and achieves expert PID controller and load observer combination to complete the speed control of servo system. Simulation results show that the dynamic response accuracy of system is increased after the introduction of per unit. The external disturbance insensitivity is assured by the design of load observer. The response speed of system is accelerated and overshoot is reduced by improvement of PID controller. . The experimental results also proved that the designed control method has high control performance. Key words: Servo System; Field-oriented Control; Load Observer; Expert PID 0 引言 高性能伺服系统融合了电机设计、传感器技术、现代控制技术和计算机数字通信技术等多个不同学科的研究成果，代表着伺服技术的前进方向，对伺服系统的研究，能促使相关学科之间的渗透。就控制理论而言，伺服系统的控制方式向数字化、智能化、模块化和网络化控制方向发展，对伺服系统用户来说，智能化