V01．29
No．5
2014
2014年5月 电工技术学报
第29卷第5期TRANSACTIONSOFCHINA ELECTROTECHNICAL
SOCIETY
May
永磁同步电动机调速系统PI控制器
参数整定方法
悦
王莉娜
朱
杨宗军
100191)
(北京航空航天大学自动化科学鸿与 电气工程学院
北京
摘要 针对永磁同步电机(PMSM)调速系统，基于PMSM调速系统的频域模型，推导出了
电流和速度PI控制器参数的解析计算式，推导过程考虑了逆变器、死区、延时、反馈滤波器及其
他非理想因素的影响，并结合工程实际，明确界定了电流环和速度环的开环截止频率和相位裕度
的合理取值范围。根据系统性能要求，设定期望的电流环和速度环开环截止频率和相位裕度，通
过所提出方法，可解析计算PI控制器参数；也可根据设定的PI参数，反计算系统的开环截止频
率和相位裕度，对设定的PI参数的性能进行预评估。该整定方法建立了系统频域参数、控制器参
数和系统时域性能的联系，整定目标直观明确，且参数物理意义明确，计算过程简单易实现。文
中通过大量的仿真表明了所提出方法的正确性，实验结果也验证了该整定算法有效可行。
截止频率 相位裕度
关键词：永磁同步电机 PI控制器 参数整定
中图分类号：TM351
Method for PI Controllers of PMSMDriving
Lina Zhu
Tuning
System
Zongjb!H
Hongyue Yang
Wang
100191
China)
University
(Beihang
Beijing
Abstract Based on the model of
permanent magnet synchronous motor(PMSM)speed regulating
in
form
for current and
PI controller
parameters
domain，closed
systems
frequency
expressions
speed
has considered the influences
are derived．Combined with
of
practical engineering，the design procedure
filters and other non· ideal factors and
defined the
inverter，dead time，time delay,feedback
clearly
and the
loop
reasonable
of
and
for the current
range
open--loop cut· -off frequencies
phase margins
speed
method achieves PI controller
of the current and the
loop．According to the system performance requirements，the proposed
the desired cut-off
and
frequencies
phase margins
and
loop
parameters by setting
speed loop．It
can also inverse-calculate the cut—off
to evaluate the
the
frequencies
phase margins
of the
and
establishes the
relationship among
Ki
performance
given
parameters．This approach
Kp
and
in time
domain
system performance
domain，
system frequency
parameters，controller parameters
intuitive and clear．With clear
which has made the
ofthe
and
parameters
tuning target
physical meaning
couldbe useful for
a
first and robust
of electric
practical tuning procedure，the proposed strategy
tuning
results
well as
the
drives control architecture．A
number of
simulations，as
method．
experimental
verify
large
correctness and
ofthe
proposed
validity
Keywords：Permanent magnet synchronous motor(PMSM)，PI controllers，tuning，cut—off frequency,
phase margin
国家自然科学基金(50807002)和电力系统国家重点实验室(SKLDl0KM05)资助项目。
收稿日期2013-01．28 改稿日期2013-05—10
万方数据
全部评论(0)