Speed regulation system based on proportional resonance self-coupling PI control

基于比例谐振自耦PI控制的调速系统

¹ School of Automation, Northwestern Polytechnical University, Xi'an 710072, China
² AVIC Lanzhou Wanli Aviation Electromechanical Co., Ltd, Lanzhou 730070, China
³ Key Laboratory of Aircraft-Electromechanical Actuators of Gansu Province, Lanzhou 730070, China

Received: 11 July 2023

Abstract

In this paper, an improved self-coupled PI control dual-loop control strategy is proposed for the vector control of permanent magnet synchronous electric speed control system, to improve the poor motor control effect caused by the dead zone of the inverter, the presence of harmonics in the motor magnetic field distribution, and the error in the sampling process of the current. In order to reduce the tracking error of the signal, an acceleration feed-forward method is adopted, and the self-coupled PI controller with an additional Levant differentiator is introduced into the speed loop of the permanent magnet synchronous motor to ensure the accurate derivation of the input signal containing noise to improve the robustness of the system. In addition, this strategy combines the proportional term of the autotuned PI control structure with the standard resonator to form a proportional resonant autotuned PI in the current loop, so that the permanent magnet synchronous motor can better compensate the current in the current loop control to achieve the effect of current harmonic suppression. Finally, the control mechanism of the servo system analyzed, and based on the mathematical model of the controlled object PMSM, the design method of the improved self-coupling PI control structure is given. The experimental results show that the proposed control strategy can reduce the impact of the motor's own parameter changes on the system performance and has a good current harmonic suppression in the low-speed domain, which verifies the effectiveness of the designed improved self-coupled PI controller.

摘要

针对永磁同步电机调速系统矢量控制过程中, 逆变器死区、电机磁场分布谐波以及电流在采样过程中存在误差等因素导致的电机控制效果不佳问题, 提出了一种改进型自耦PI控制的双环控制策略。为减小信号的跟踪误差, 采用加速度前馈的方式, 将增加Levant微分器的自耦PI控制器引入到永磁同步电机速度环中, 确保对含有噪声的输入信号准确求导以提高系统的鲁棒性。另外, 所提策略在电流环中将增加加速前馈的自耦PI控制结构的比例项和标准谐振器相结合, 构成比例谐振自耦PI控制器, 使永磁同步电机在电流环的控制中能更好地补偿电流, 达到抑制电流谐波的作用。通过分析伺服系统的控制机理, 在被控对象PMSM数学模型的基础上, 给出了改进型自耦PI控制结构的设计方法。实验结果表明, 所提出的控制策略能够减小电机自身参数变化对系统性能的影响并且在低速域具有良好的抑制电流谐波作用, 验证了所设计的改进型自耦PI控制器的有效性。