An anti-integral windup control method for motor control

Abstract

The invention discloses an anti-integral saturation control method for motor control. The anti-integral saturation control method is characterized in that on the basis of traditional PI (proportional integral) controller, an amplitude limiting module and a reverse calculation tracking anti-integral saturation control algorithm are adopted, and the compensation coefficient is adjusted in real time according to the system running state, so as to solve the problem of overshoot or advanced desaturation due to unreasonable setting of the fixed compensation coefficient in the traditional algorithm; by adopting the algorithm, the desaturation function of the traditional algorithm is maintained, and the suitability of traditional algorithm and the integral control property of the system are improved.

Description

technical field [0001] The invention relates to a motor control method, in particular to an anti-integral saturation control method for motor control. Background technique [0002] In the control system, the controlled object often has various restrictions. For example, in the motor control system, the motor will be limited by factors such as maximum current, maximum torque or heat generation. Therefore, it is necessary to set the motor torque or current Clipping is performed. [0003] For the motor control system using the PID controller, if the motor torque or current has reached the limit value during the control process, but the deviation has not been eliminated, at this time due to the integral effect, the controller operation result will continue to increase or decrease , but the motor has no corresponding action, so that the output of the controller is not equal to the actual input of the controlled object. This phenomenon is called integral saturation. Integral sat...

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Problems solved by technology

Lee S, Lin Ruiquan and others respectively disclosed the method of integral separation in "Closed-loop estimation of permanent magnet synchronous motor parameters by PIcontroller gain tuning" and "Neuron Controller Based on Integral Separation PID Control Algorithm", that is, setting A switch link, when the controller is saturated and limited, stop or limit the integral action of the controller. This method is simple to implement, but lacks robustness. Once the system changes, this method may not be able to effectively suppress the saturation phenomenon; Eric L, Ding Yi and others put forward the idea of ​​variable speed integral in "Initial Evaluation of IETM Applicability to Schoolhouse and Worksite Training Functions", "Application and Improvement of Variable Speed ​​Integral PID Control in Magnetic Suspension Bearing Control" and other documents, by changing the integral term Accumulation speed, so that it corresponds to the size of the deviation. When the deviation is large, the integral accumulation speed is slow, and the deviation is small, the integral accumulation speed is fast. A certain disturbance, at the switch point of the control structure, the output of the system will jump; The algorithm of back calculation and tracking was proposed in literatures such as "Research on Vector Control Improvement Method of Machine-side Converter of Permanent Magnet Wind Turbine". On the basis of the controller with limiter, a negative feedback compensation module was introduced to The integral link is used to maintain or reduce the integral effect. This algorithm has been applied in engineering, but the reverse calculation tracking algorithm has an obvious shortcoming. The compensation parameters need to be manually configured. Good response in running state

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