基于内模控制的永磁同步电动机调速系统设计

Driveandcontrol2010556:2009-12-21李运德,张淼,孙兴中(,,510006):,,,;,,;:,,:;;;:TM341:A:1004-7018(2010)05-0056-04DesignofSpeedControlSystemBasedonInternalModelControlforPMSMsLIYun-de,ZHANGMiao,SUNXing-zhong(GuangdongUniversityofTechnology,Guangzhou510006,China)Abstract:Ainternalmodelcontrol(IMC)strategywasproposedforthehigh-performancerequirementsofPMSMservosystemtostrengthentheanti-disturbancecapabilityandimprovethesystemrobustness.DesiredfeaturesfortheIMCsuchassimpleintuitivestructureandeasyregulationwerefullyachieved.TheIMCwasusedtoimprovethecurrentloop,thentodesignthespeedcontrollerandinhibitspeedfluctuationbasedonthecurrentloop;finally,thespeedcontrolsystemwasanalyzedbyestablishingasimulationmode.lTheresultsshowthattheIMCtechniqueisexcellentwiththelowovershoot,smalltorquerippleandtimelyresponse,andthatitobviouslyimprovesthetrackingperformanceandthedisturbancerejectionperformanceofsystem.Thesimulationresultsprovethatthecontrolstrategyiseffective.Keywords:PMSM;internalmodelcontro;lcurrentregulator;speedregulator0(PMSM),,PI,,,,,,PI,,,MatlabR2007a,1PMSMPMSMPMSM,Y,,;,PMSM,PMSM,:(1);(2);(3)PMSM,(),d;d90,q;A1PMSMdq,d,dq,120105Driveandcontrol571,Clarke()Park()[2],:idiq=23coscos(-23)cos(+23)-sin-sin(-23)-sin(+23)iAiBiC(1)uduq=23sinsin(-23)sin(+23)coscos(-23)cos(+23)uAuBuC(2)PMSMY,iA+iB+iC=0dq,PMSM:ud=Rid-Lqpriq+Lddiddt(3)uq=Riq+Ldprid+p!fid+Lqdiqdt(4):!q=Lqiq(5)!d=Ldid+!f(6):Te=1.5p[!fiq-(Lq-Ld)idiq](7):Jdrdt=Te-Br-TL(8):uduqdq;idiqdq;!d!qdq;R;LdLqdq;!f;J;TL;Te;B;r;,=pr;p22.1,,,:,,;,,2[1,5]Gp,Gm(),Cm,Gp=Gm22,YYmemd,,,2,Y:Y=CmGp1+Cm(Gp-Gm)R+1-CmGm1+Cm(Gp-Gm)d(9)(9):,Gm=Gp,,YmY,,;,[4]Gm=Gp,Cm=G-1m,,,,Cm:Cm=G-1mf(s)(10):f(s)Gm1,,,,GmGm1Gm2,:Gm=Gm1Gm2(11)Gm,Gm2=1,(10)(11):Cm=G-1m1f(s);Gm,,Cm=G-1m1f(s),:G-1m2(0)f(0)=1(12),Driveandcontrol2010558,,Gp!Gm,,,,,,Fb,,,,,Fr,,FbFr333,Y:Y=CmGpFr1+CmFb(Gp-Gm)R+1-CmGmFb1+CmFb(Gp-Gm)d(13),f(s)f(0)=1,:ess=R(0)-Y(0)=limt∀e(t)=lims∀0sE(s)=R(0)-Cm(0)Gp(0)Fr(0)R(0)+[1-Cm(0)Gm(0)Fb(0)d(0)]1+Cm(0)Fb(0)[Gp(0)-Gm(0)]=0(14):FbFr,Fr(0)=Fb(0)=1,,(14),,,,,,[9]#G,#G,,f(s)#G,,f(s),,,,,,,,2.2,id=0(4):Iq=1R+Lqs(Uq-p!fr)(15),,,,,,,,,p!fr(15):Iq=1R+LqsUq(16),,,:Gpc=KV(TVs+1)(R+Lqs)(17)Gmc=Gpc,FbFr,Fb=∀Tcfs+1Fr=1Tcfs+1,Tcf444KVTV,f(s)=11+ms,m(0∃m1),m,m,2.3,20105Driveandcontrol59,,Ld=Lq=L(8),(7)(16),:Te=KcR+LqsUq(18)r=1Js+B#T(19),Kc=1.5p!f,#T,#T=Te-TL4,:Wc=1∀Ks+1(20):Gpi=Kc(Ks+1)(Js+B)(21)Gmi=Gpi,FbFr,Fb=Tifs+1Fr=1Tifs+1,Tif555,Kf(s)=2ns+1(1+ns)2,n(0∃n1),n,,n,3MatlabR2007a:R=2.875#,L=8.5mH,!f=0.175Wb,J=0.0008kgm2,B=0,p=4,∀=0.0417V/A,=0.0056V/(rmin-1),KV=40,,,,,,,,,#R,;,,,,,,,0.4s,0,0.25s6.5Nm,1800r/min500r/min,61800r/min500r/minaPMSM(tr∃)(#nmaxtv)[2],11tr/s0.0050.018∃(%2%)3.25%4.92%ts/s(%2%)0.0540.07%nmax(%nmax/n&∋100%)20.4r/min(1.09%)20.6r/min(4.12%)tv/s(%2%)00.01261,,,,(8),,0.25s,,(66)Driveandcontrol20105665n=150r/min,6n=150r/min56,,;,,,,[1].[D].:,1997:1-30.[2],,,.[J].,1997,(4):15-19.[3]Ben-BrahimL,DarengossC.IndentificationofInductionMotorSpeedusingNeuralNetworks[J].IEEEPCC-yokohama,1993,13(5):689-694.[4]KimYR,SulSK,ParkMH.SpeedSensorlessVectorControlofInductionMotorUsinganExtendedKalmanFilter[J].IEEETrans.onIndus.Appl.i,1994,30(5):1225-1233.[5]HabetlerTG.DirectTorqueControlofInductionMachineUsingSpaceVectorModulation[J].IEEETrans.OnIA,1992,28(5):165-170.[6],.[J].,1998,13(5):26-30.:(1980-),,,,(59),,;6,,4,,,,,,,,,,:,,,,[1],,,.[J].,2004,24(11):106-111.[2].((([M].:,2003.[3],,.[J].,2006,(12):26-28.[4]YuD,GuoQ,HuQ.StudyonSynchronousDriveTechniqueofBiaxialLinearServoMotorBasedonDecouplingControlandInternalModelControlwithTwo-Degree-of-Freedom[C]//.:2003:541-543.[5]ShaoX,ZhangG,ZhaoZ,eta.lAdaptiveInternalModelControlofPermanentMagnetSynchronousMotorDriveSystem[C]//TheEightInternationalConferenceonElectricalMachinesandSystems(ICEMS).:2005:1843-1846.[6]ChenJ,ChenY.Filter'sTimeConstantSelf-adjustingInternalModelControlForTime-delaySystem[C]//Proceedingsofthe6thWorldCongressonIntelligentControlandAutomation.Dalian,2006:6373-6377.[7],,.[J].,2004,24(7):151-155.[8],,.[J].,2004(8):21-23.[9],.[J].,2002(5):8-11.[10]SaegusaT.PIDSelf-TuningControllerBasedonInternalModelControl[C]//The4thinternationalSymposiumonHVAC.Beijing,2003:1094-1099.:,,,