Permanent Magnet Synchronous Motor Speed Control System Based on Adaptive Inverse Control Method

基于自适应逆控制的永磁同步电机调速系统

School of Automation, Northwestern Polytechnical University, Xi’an 710072, China

Received: 15 September 2018

Abstract

The classical feedback control method for the permanent-magnet synchronous motor cannot fulfill the dynamic requirement and anti-interference requirement at the same time. In this paper, an adaptive inverse control method with disturbance elimination is proposed based on the vector control including speed and current loops. It avoids the system instability and the anti-disturbance performance of the system can be enhanced as well. Firstly, the speed loop adopts the adaptive inverse controller possessing a feed forward control structure, and a normalized least-mean square filtering algorithm accelerates the speed error convergence. The inverse model of the approximately linearized system is obtained by modifying the weighting factor online. Secondly, in order to suppress and eliminate the influence of motor parameter perturbation and external disturbance on the control system, an extended state observer is designed to observe and compensate the disturbance of the system. Thus, the dynamic performance and anti-disturbance performance of the system can be improved simultaneously. Finally, the effectiveness of the proposed method is verified by experiment and simulation.

摘要

针对永磁同步电机的反馈控制方法要兼顾系统动态性和抗扰性需求，在双闭环的矢量控制中采用具有扰动消除环节的自适应逆控制方法，能够避免系统的不稳定现象，提高系统的抗扰性能。首先，转速环采用基于前馈控制的自适应逆控制器，通过归一化的最小均方滤波算法使得转速误差能够快速收敛，并通过在线修正控制器权值，得到近似线性化的被控对象的逆模型。其次，为了抑制和消除电机参数摄动和外部扰动对系统的影响，采用扩张状态观测器对系统的扰动进行观测并补偿，同时提高系统动态性能和抗扰性能。最后，通过实验和仿真验证了所提方法的有效性。