Anti-saturation PID (Proportion Integration Differentiation) control method for motor speed regulation system

A control method and motor speed regulation technology, which is applied in the direction of single motor speed/torque control, can solve the problems of lack of robustness of system conditions, and achieve the effects of low noise, fast rewind saturation time, and small overshoot

Active Publication Date: 2012-08-01
SHANGHAI INST OF TECHNICAL PHYSICS - CHINESE ACAD OF SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0017] In this method, by reasonably configuring the negative feedback branch gain K c It can a

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  • Anti-saturation PID (Proportion Integration Differentiation) control method for motor speed regulation system
  • Anti-saturation PID (Proportion Integration Differentiation) control method for motor speed regulation system
  • Anti-saturation PID (Proportion Integration Differentiation) control method for motor speed regulation system

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Embodiment Construction

[0051] The following examples describe the specific implementation of the present invention. This embodiment is implemented in the speed regulation control of a permanent magnet synchronous motor. The speed control is a double loop structure, the inner loop is a current loop, and the outer loop is a speed loop, both of which adopt anti-saturation PID control.

[0052] The current loop adopts vector control based on magnetic field orientation, and the specific principle and implementation process will not be repeated again. In short, the bandwidth of the current loop is much greater than the bandwidth of the speed loop, so as long as the current loop is stable, the influence of the current loop can be ignored when considering the speed loop control. The following is attached Figure 5 The design of the speed loop anti-windup controller based on integral prediction is described in detail.

[0053] The motor speed control system can be expressed as a first-order model, as shown in t...

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Abstract

The invention discloses an anti-saturation PID (Proportion Integration Differentiation) control method for a motor speed regulation system. An integral predictor is added into a common PID controller; when an executor is saturated, the integral state predictor utilizes an error e of a control command value and a system output value, a differential value of the error and a limiter output value together to calculate a stable-state integral state value; and after the stable-state integral state value is processed by a low pass filter, integral items are reset. The method can be used for effectively inhibiting the integral saturation phenomenon, so that the controller can obtain smaller overshooting and shorter desaturation time in the case of saturation. The anti-saturation PID control method can be applied to the PID controllers of various motor speed regulation systems.

Description

Technical field [0001] The implementation of the present invention relates to the control of a motor speed regulating system, and more specifically to an anti-saturation PID control method for a motor speed regulating system. Background technique [0002] In the motor speed control system, multi-loop nested control methods are generally used, such as current loop nested speed loop. Due to the limitation of the motor's maximum current, maximum power, heat generation and other factors, it is necessary to limit the motor current and speed. General limiter output such as figure 1 As shown, the form can be expressed as follows: [0003] v = U h ifu > U h u if U l < u < U h U l ifu < U l [0004] Where U h Is the limiter output upper limit, [0005] U l The lower limit is output for the limiter. [0006] This type of actuator will saturate, which may cause the output of the controller to be diff...

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Application Information

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IPC IPC(8): H02P6/08
Inventor 吕娴娜刘银年孙德新付峪江浩郎均慰符玉襄
Owner SHANGHAI INST OF TECHNICAL PHYSICS - CHINESE ACAD OF SCI
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