摘要
针对PMSM伺服系统PI参数自整定方法依赖系统数学模型精确度或优化时间长、整定效率低的问题,提出一种将基于模型和规则的参数自整定思想相结合的参数自整定及优化策略。首先以伺服系统的数学模型为基础,利用速度环开环截止频率和相角裕度等频域性能指标来设计出一个较为适当的速度环PI参数;然后以ITAE为系统阶跃响应的评价函数,并在理论设计的PI参数附近利用二自由度迭代整定法搜索使评价函数获得最小值的速度环PI参数,从而得到使伺服系统工作在最优控制性能的PI参数。实验结果证明,通过该方法优化后的速度环PI参数能使伺服系统具有良好的动态跟踪性能和较强的负载抗扰性。
In order to solve the problem of PI parameters self-tuning about being dependent on accuracy of system mathematical model or long optimization time, a novel and practical parameters self-tuning and op-timization method for PMSM servo system was proposed. The method obtained optimal parameters of PI controller by combining parameters self-tuning ideas based on model and rules. Firstly, appropriate PI parameters by frequency-domain performance index was designed, such as cutoff frequency and phase margin of speed loop. Then with integrated time and absolute error （ITAE） as evaluation function, two-degrees-freedom iteration was utilized to seek PI parameters which made system obtain the minimum value of evaluation function in the vicinity of theoretical PI parameters. Thereby PI parameters were achieved which made PMSM servo system possess optimal control performance. The experimental results show that the optimized PI parameters makes PMSM servo system own good dynamic performance and load immunity.
出处
《电机与控制学报》
EI
CSCD
北大核心
2014年第2期102-107,共6页
Electric Machines and Control
基金
国家自然科学基金(51007012)
关键词
永磁同步伺服系统
参数自整定
二自由度迭代法
PI控制器
频域设计法
permanent-magnet synchronous servo system
gain self-tuning
two-degrees-freedom iteration method
PI controller
frequency domain design method
