Fractional order PI speed controlling method of permanent magnet synchronous motor
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A permanent magnet synchronous motor, speed control technology, applied in the direction of single motor speed/torque control
Inactive Publication Date: 2016-01-20
中国兵器工业集团第二〇二研究所
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However, traditional PI control methods can only satisfy two control constraints, such as a given phase margin, a given crossover frequency, etc.
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Embodiment 1
[0028] Let T c =1ms, J=0.003429kg·m 2 , C T =0.601Nm / A, T u = 3ms, then the steps for the design and parameter tuning of the fractional-order PI speed controller are as follows:
[0029] The first step, given the phase margin Given amplitude crossing frequency ω cg = 30s -1 ;
[0030] In the second step, select 100 points at equal intervals in the interval [0.4,1.3], that is, point For α=α i (i=0,1,…,99) for each integration order:
[0031] a) Calculate the proportional gain k p = Im ( A ) 30 α s i n π α 2 , and integral gain k i = Re ...
Embodiment 2
[0042] Let T c =1ms, J=0.003429kg·m 2 , C T =0.601Nm / A, T u = 6ms, then the steps to realize the design and parameter tuning of the fractional-order PI speed controller are:
[0043] The first step, given the phase margin Given amplitude crossing frequency ω cg = 100s -1 ;
[0044] In the second step, select 100 points at equal intervals in the interval [0.4,1.3], that is, point For α=α i (i=0,1,…,99) for each integration order:
[0045]a) Calculate the proportional gain k p = Im ( A ) 100 α sin π α 2 , and integral gain k i = Re ( A ) ...
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Abstract
The present invention provides a fractional order PI speed controlling method of a permanent magnet synchronous motor. The method enables a speed control system of the permanent magnet synchronous motor to get the maximal amplitude margin under the given phase margin and amplitude cross-over frequency, and realizes the control parameter integrated decision of the proportional gain, integral grain, and integration order for a transfer function of the designed fractional order PI speed controller. The fractional order PI speed controlling method of the permanent magnet synchronous motor can enable the system to get the maximal amplitude margin under the given phase margin and amplitude cross-over frequency so that the system gets larger stable reserve, thereby reducing the overshoot responded to the motor speed.
Description
technical field [0001] The invention relates to a servo control system, in particular to the permanent magnet synchronous motor control of the servo system. Background technique [0002] The servo system has been widely used in various weapon systems, such as anti-aircraft guns, ground guns, rocket launchers, etc., and the current servo system widely uses the AC servo system based on permanent magnet synchronous motors. The inner loop of the speed loop composed of the high-speed system, its control performance has a great influence on the overall performance of the servo system, and directly affects the debugging of the parameters of the servo system. Therefore, the design of the speed loop is very important. Generally, , the actual speed loop generally adopts proportional-integral (PI) control, its parameters are easy to adjust, the controller design is flexible, and it can meet most of the index requirements. PI controller belongs to the control category of integer order,...
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