永磁同步电机直接驱动柔性负载控制方法.PDF

2017 年 2 月 电 工 技 术 学 报 Vol.32 No. 4 第 32 卷第 4 期 TRANSACTIONS OF CHINA ELECTROTECHNICAL SOCIETY Feb. 2017 永磁同步电机直接驱动柔性负载控制方法 丁有爽 肖 曦 （电力系统及大型发电设备安全控制和仿真国家重点实验室（清华大学） 北京 100084 ） 摘要 针对太阳能帆板驱动系统中，由于步进电机的步进运动与帆板自身的柔性相互耦合而 产生的谐振问题，提出使用永磁同步电机（PMSM ）直接驱动柔性负载的方法。根据Lagrange 原 理，得到柔性负载动力学模型，并与 PMSM 数学模型结合，得到 PMSM 驱动柔性负载系统的数 学模型。采用双闭环矢量控制策略对PMSM 驱动柔性负载系统进行控制，得到此时电流环及转速 环开环传递函数。通过与传统PMSM 驱动刚性负载系统对比，分析负载柔性对电流环和转速环控 制特性的影响。在此基础上，分别使用极点配置方法和传统PI 调节器参数确定方法，对控制器中 PI 调节器参数进行了整定。仿真和实验结果验证了上述分析及参数整定方法的有效性。 关键词：永磁同步电机 柔性负载 控制器设计 极点配置 中图分类号：TM341 Control Strategies of Flexible Load Driven Directly by Permanent Magnet Synchronous Motor Ding Youshuang Xiao Xi （State Key Lab of Security Control and Simulation of Power Systems and Large Scale Generation Equipment Tsinghua University Beijing 100084 China ） Abstract As for the resonance problem brought by the coupling between the stepping movement of the stepping motor and the flexibility of the solar array in the conventional solar array drive system, permanent magnet synchronous motor (PMSM) is proposed to drive the flexible load. Then based on Lagrange principle, the dynamic equation of the flexible load is derived. Combined with the mathematical model of PMSM, the mathematical model of the system that flexible driven directly by PMSM is built. Then the flexible driven system is controlled via closed-loop field orientation control strategy, and the open loop transfer function of current loop and speed loop is derived. Compared with the rigid load PMSM driven system, the influence of the flexibility on the current loop and the speed loop is analyzed. Two kinds of PI parameter tuning