改善步进电机电流响应速度的抗饱和pi控制-包装工程.pdfVIP

第38 卷 第 17 期 包 装 工 程 2017 年9 月 PACKAGING ENGINEERING ·153 · 改善步进电机电流响应速度的抗饱和 PI 控制 聂川，祝九思，唐佳 （中南大学，长沙 410083 ） 摘要： 目的 为了提高连续式包装机的生产效率，提出一种新型的抗积分饱和PI 电流控制器设计方法。 方法 针对PI 控制器积分饱和现象引起的步进电机绕组电流响应过慢问题，根据控制器输入输出状态， 确定抗饱和增益值的大小，调整积分作用效果。在控制器输入变化较慢时，充分发挥积分器的作用，减 小超调量；在输入变化较快时，使积分器更快地退出饱和，提高系统响应速度。结果 实验结果表明， 该方法较传统PI 控制和反计算固定增益PI 控制能更精确地控制绕组电流，有效提高了电流响应速度和 减小了超调量。结论 该方法使绕组电流更好地跟随参考值变化，改善了电机在不同运行状态下的动态 性能。 关键词：连续式包装机；步进电机；闭环电流控制；PI 控制器；抗积分饱和；响应速度 中图分类号：TB486+ .3 文献标识码：A 文章编号： 1001-3563(2017)17-0153-05 Improvement of Anti-windup PI Control of Current Response Speed for Stepping Motor NIE Chuan , ZHU Jiu-si, TANG Jia (Central South University, Changsha 410083, China) ABSTRACT: The work aims to propose a new design method for the anti-integral windup PI current controller, in order to improve the production efficiency of continuous packaging machine. With respect to the excessively slow response speed for the stepping motor winding current caused by the integral windup of PI controller, the size of anti-windup gain value was determined and the integral action effects were adjusted according to the input and output states of the control- ler. When the input changed slowly, this controller gave the full play to the integrator to reduce the overshoot; when the input changed quickly, the integrator withdrew from the windup more quickly to improve the response speed of the sys- tem. The experiment results showed that, compared with the traditional PI control and back-calculation PI controller with a fixed gain, the proposed method could control the