摘要
负载模拟系统用于位置伺服系统带载测试时,需要在被承载系统拖动的同时,模拟负载转动惯量和负载力矩,然而承载系统运动状态变化引入的干扰力矩,使得负载模拟系统难以在较大频宽范围内实现高精度负载模拟。该文以永磁同步电机(permanent magnet synchronous motor,PMSM)作为负载模拟系统力矩加载执行器,提出在负载转矩控制器中加入比例谐振控制方法,提升负载模拟系统性能。通过构建同频率比例谐振控制器,抑制干扰力矩,实现无静差跟踪周期负载力矩;根据正弦运动中位置与加速度的幅值相位关系,结合相应频率的比例谐振控制器,高精度模拟位置伺服系统负载转动惯量。此外,应用内模原理分析比例谐振控制器用于负载模拟系统中,系统参数和输入信号的鲁棒性;采用根轨迹方法设计比例谐振控制器参数。仿真及实验验证了频率为10 Hz时负载模拟效果,证明了方法的正确性和有效性。
When a dynamic load simulation system is used to simulate load torque and inertia moment in the test of position serve systems, high precision load simulation is difficult to achieve in a wide frequency range due to the interference torque caused by movement of the system under tests. In order to improve performances of load simulations, a novel electric dynamic load simulation system based on the permanent magnet synchronous motor was proposed, in which proportional resonant control was added to the load torque loop controller. By the embedding proportional resonant controller with the corresponding frequency, the periodic interference torque can be restrained completely, and the periodic test torque can be tracked with zero steady-state error; according to the proportion relationship between position and acceleration under sinusoidal motion and combing with the proportional resonant controller, additional inertia of the system under tests can be simulated accurately. Moreover, the robustness of the proportional resonant controller in the electric dynamic load simulation system was analyzed by the theory of the internal model, and the root locus was used to design parameters of proportional resonant controllers. Simulation and experimental results of a 10 Hz load simulation verify the feasibility and validity of the schemes proposed by this paper.
出处
《中国电机工程学报》
EI
CSCD
北大核心
2015年第2期486-493,共8页
Proceedings of the CSEE
基金
国家自然科学基金项目(51077025)~~
关键词
永磁同步电机
电动负载模拟系统
比例谐振控制
转动惯量模拟
鲁棒性
permanent magnet synchronous motor（PMSM）
electric dynamic load simulation system（EDLSS）
proportional resonant control
inertia simulation
robustness
