基于干扰抑制和非线性摩擦力补偿的速度环PI控制器-中南大学学报.PDF

46 9 ( ) Vol.46 No.9 2015 9 Journal of Central South University (Science and Technology) Sep. 2015 DOI: 10.11817/j.issn.1672-7207.2015.09.009 PI ( 100190) (AW) AW (PI) PI (P)PI PI AW (PMSM) PI TP276 A 1672−7207(2015)09−3224−07 Anti-windup design for PI-type speed controller based on nonlinear compensation and disturbance suppression WANG Shenhang, WANG Yunkuan, HU Jianhua, QIN Xiaofei, ZHENG Jun, LIU Na (Institute of Automation, University of Chinese Academy of Sciences, Beijing 100190, China) Abstract: In order to solve the problem of dynamic quality deterioration caused by the proportional plus integral (PI) integral saturation of speed regulator in permanent magnet synchronous motor servo system, a novel anti-windup(AW) design was proposed. Uncertainties in the mode were regarded as a disturbance of the system by the AW method firstly. Then in order to improve the system low performance and disturbance rejection property a compound control method, which combined model-based friction compensation with disturbance observer compensation, was designed for speed loop based on PI control strategy. Finally, the desaturation system response of re-entering the PI mode from proportional (P) mode was used as a system response with an initial value, and the error and in