PMSM position servo system high-order object controller design and parameter determination method

Abstract

The invention provides a PMSM position servo system high-order object controller design and parameter determination method. A position controller adopts a PID adjustor, and PID adjustor parameters aredesigned based on pole assignment; a current ring adopts the PI adjustor and is corrected into an I type system to determine the parameters of the PI adjustor; the current loop is provided with a PWMinverter; and the characteristic equation of a PID closed-loop system is as follows: JTqs4+Js3+KtKds2+KtKps+KtKi=0, wherein J is a rotational inertia, Tq=1/K, K+KpkPWMKa/Ta, KPWM is the proportionalgain of the PWM inverter, Ka=1/R, R is a motor sator resistance, Ta is a motor electric time constant, s is a controlled time variable, Kt is a torque constant, Kp, Kd and Ki are controller control parameters, Ki=Kp/taui, and taui is an integral time constant of the PID adjustor. As contrastive analysis is carried out for different step responses of the high-order object control system when pole parameters change, a selection range of related parameters is given out, and engineering significance is obtained.

Description

technical field [0001] The invention belongs to the field of servo system control, in particular to a PMSM position servo system high-order object controller design and parameter determination method based on pole configuration. Background technique [0002] In general, in the field of PMSM (permanent magnet synchronous motor, permanent magnet synchronous motor) position servo system control, the relevant design and parameter determination of the controller can establish a traditional second-order model through the mechanical motion equation of the permanent magnet synchronous motor, and then deduce And the corresponding simulation experiments, but the traditional second-order model cannot reflect the relevant physical characteristics of the actual system well, and cannot reflect the influence of current loop parameter changes on the system. [0003] Therefore, it is an important point to optimize the servo system control to establish a high-order model of the servo system w...

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Problems solved by technology

[0002] In general, in the field of PMSM (permanent magnet synchronous motor, permanent magnet synchronous motor) position servo system control, the relevant design and parameter determination of the controller can establish a traditional second-order model through the mechanical motion equation of the permanent magnet synchronous motor, and then deduce and the corresponding simulation experiments, but the traditional second-order model cannot well reflect the relevant physical characteristics of the actual system, and cannot reflect the impact of current loop parameter changes on the system

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