最新矢量控制中电流环和速度环PID参数设计指南.docxVIP

矢量控制中电流环和速度环 参数设计指南 PID 1: PI desig n for Curre nt Con trollers PI Design for Current Controllers Him tail* .dPJFreqitw押印2 .dPJ Freqitw押印 2 K严Kp K；i^m 抵 Aimpty a sens yain term ■jOLriaia - a *■ , K ttrm specifies tht inflection frequency * InstaSPIN-FOC uses a series configuration for the PI current controller. PI Design for Current Controllers jPJCwra^ i ! Kr f弋 V = Vp. V?.K.C C^ujFtnr= C^ujFtnr = Closed loop system Iransfer function Find gains C and D to keep REAL poles Choose K to remove the pole PI Design for Current Controllers G(s) = ——! n K G(s) = ——! n K； = L ? BmMdth JU ■ Substitute back in to the transferfunction and solve for Kp. k：T ― ￡ is dependent on the Motors parameters K, sets the zero of the PI con trailer and cancels out one of the two poles in the current control system. This gain is dependent upon the motor. Kp sets the closed loop bandwidth of the current control system. % can be adjusted to make the system more or less stiff. 2:PI design for speed controllers PI Design for Speed Controllers Fft^utncy Fft^utncy InstaSPIN-FOC uses a parallel c on figuration for the PI speed con troller. Use the series configuration to do analysis. Speed Control Transfer Function PIControllerCommanded C viren rMo for Volts? PIController Commanded C viren r Mo for Volts ? Controller [ Motor C(w/H G〃(s) G〃(s) Open loop speed control system transfer function 4J 3 p 3 1— ?％(￡)= [3A = 丁心 PMSM torque/current transfer fun ction )=—————■ Load transfer function )=—— Find spdKj ss ss Zero @ SvspdK**** 0 dB frequency Pole @ S?/ x7^ L Set the open loop system s zero and pole equal distance between the unity gain frequency 価=5?吆r and epoie = §? %dB S - damping factor Find spdKp Solve for unity gmin at the zero inflection point frequency Solve for unity gmin at the zero inflection point frequency L?6?K6?spdK严~K~Now the spdKp gain is solved L?6?K 6?spdK严~K~ Now the spdKp gain is solved There are equations describing the current and speed controller PI gains. How are th