基于前馈控制的交流伺服系统高速定位控制

20102Driveandcontrol35:2009-04-09,,,,(,150001):,PIDPID,,,PID,PID:;;;PID:TM383.4+2:A:1004-7018(2010)02-0035-03ResearchonHigh-SpeedPositioningofACServoSystemBasedonFeedforwardControlHAOShuang-hui,CAIYi,ZHENGWei-feng,LIUJie,HAOMing-hui(HarbinInstituteofTechnology,Harbin150001,China)Abstract:UsingtraditionalPIDcontrolstrategyishardtoachievehigh-speedpositioninginACservosystem.Tosolvetheproblem,thepaperintroducedthecurrentfeedforwardandspeedfeedforwardintothePIDcontrolservosystemin2cludingposition/speedandcurrentloop.Thesimulationvalidatedtheperfecteffectoffeedforwardcontrolininstructionsig2naltracking,andacomparingexperimentwascarriedoutbetweentheexperimentsystemandcommonPIDservocontrolsys2tem.TheexperimentresultsindicatethePIDservocontrolsystemincludingfeedforwardcanachievehigh-speedpositioning.Keywords:feedforwardcontrol;high-speedpositioning;ACservo;PIDcontrol0ICMEMS,,[1-2](),,,,,,,[3-5],,1,1,N()d,qd90,d-qedA(a)(b)1Fm,edq,Fm,d-qIAIBIC,I0,U0,I0=0,IA+IB+IC0,120(ABC),(dq0)3/2dIdqIq,:Driveandcontrol2010236IdIq=23coscos(-23)cos(+23)-sin-sin(-23)-sin(+23)IAIBIC(1),,d-q:UAUBUC=R000R000RIAIBIC+pABC(2):UAUBUCABC;ABCABC;R;p,p=ddt,d-q:UdUq=R00RIdIq+p-eepdq(3):UdUqdq;qddq;e,d-q:d=LdId+fq=LqIq(4):LdLqdq;f(3),(4),:Ud=RId+LddIddt-eLqIqUq=RIq+LqdIqdt+eLqId+ef(5)LdLqRf,dqPWM,UdUq,2/3,UUUVUW:UUUVUW=23cos-sincos(-23)-sin(-23)cos(+23)-sin(+23)UdUq(6)2PID,22IUIVIW,,3/2,d-qdq,Id-fbIq-fbqIq-fbIq-ref,(PI)2/3,PWM,(IPM),Vfb,,(PI),qIq-refPfbPref,Kp,(P)dId=0,2,q,RL,33PID,Kt,KePI:E(s)=K1+1Ts(7):K;T3PID,4,4,G(s)20102Driveandcontrol37,F(s)4,:y=[E(s)+F(s)r]G(s)(8):E(s)=r-y(9):y=[1+F(s)]G(s)1+G(s)r(10):F(s)=1G(s)(11)(10):y=r(12)(11),,,,5,(P),(PI),Js2s,,5PID+Matlab/Simulink,PIDPID,6,PID,PID747,IPM(),,NECV85032,,IPMPWM,PIDPIDDA8aPID,,45ms8b,13ms(a)PID(b)PID8-9aPID,,40ms9b,13ms(a)PID(b)PID9-,,,(40)Driveandcontrol2010240,,PI,PI(a)2000r/min(b)100r/min5(2),62000r/min200r/min200r/min2000r/min,(2002000r/min)(2000200r/min),(a)2000200r/min(b)2002000r/min6(3)PI7PIPI6PI,,7(a)2000200r/min(b)2002000r/min76,PI,PI,,PI,,,,4dSPACEPI,PI,,dSPACE,120,,[1]SchauderC.Adaptivespeedidentificationforvectorcontrolofin2ductionmotorswithoutrotationaltransducers[J].IEEETrans.onIA,1992,28(5):1054-1061.[2]KimYR,SulSK,ParkMH.SpeedSensorlessVectorControlofInductionMotorUsinganExtendedKalmanFilter[J].IEEETrans.onIA,1994,30(5):1225-1233.[3],,,.[J].,2004,24(5):84-89.[4],,,.[J].,2006,26(18):164-168.[5].[M].:,2003.[6].[D].:,2004.[7].PID[J].,2005,21(10):47-48.(37)5PID,PID,,,[1]./[D].:,2006:2-16.[2].IC[D].:,2005:1-18.[3]GuglielmiP,PastorelliM,PellegrinoG,etal.APosition-Sensor2lessControlofPermanentMagnetAssistedSynchronousReluctanceMotor[J].IEEETransactionsonIndustryApplications,2004,40(2):615-622.[4]BoussakM.ImplementationandExperimentalInvestigationofSen2sor-lessSpeedControlWithInitialRotorPositionEstimationforInteriorPermanentMagnetSynchronousMotorDrive[J].IEEETransactionsonPowerElectronics,2005,20(6):1413-1422.[5]CavallaroC,diTommaso,MiceliR.EfficiencyEnhancementofPermanent-MagnetSynchronousMotorDrivesbyOnlineLossMinimizationApproaches[J].IEEETransactionsonIndustrialE2lectronics,2005,52(4):1153-1160.:(1963-),,,