基于跟踪微分器的永磁同步电主轴电流控制算法

中国机械工程 ›› 2014, Vol. 25 ›› Issue (2): 191-196.

基于跟踪微分器的永磁同步电主轴电流控制算法

于家斌1;王小艺1;许继平1;秦晓飞2

1.北京工商大学,北京,100048
2.中国科学院自动化研究所,北京,100190

出版日期:2014-01-25 发布日期:2014-02-19
基金资助:
国家自然科学基金资助项目(51179002);北京市科技新星计划资助项目(2010B007);北京市教委专项课题(PXM2013_014213_000044)

Current Control Algorithm of Permanent Magnet Synchronous Spindle Based on Tracking-differentiator

Yu Jiabin1;Wang Xiaoyi1;Xu Jiping1;Qin Xiaofei2

1.Beijing Technology and Business University,Beijing,100048
2.Institute of Automation,Chinese Academy of Sciences,Beijing,100190

Online:2014-01-25 Published:2014-02-19
Supported by:
National Natural Science Foundation of China（No. 51179002）

摘要/Abstract

摘要：

永磁同步电主轴电流PI调节器存在阶跃响应超调与跟踪速度之间的矛盾,造成电流跟踪过程出现超调，增加了PI参数的整定难度。其原因主要是,控制的“快速性”与“超调”之间的矛盾是PI调节器的固有属性,为此,根据自抗扰控制理论，提出采用跟踪微分器为d轴和q轴电流指令安排过渡过程的方法,使PI调节器对输入电流阶跃信号的跟踪更加平滑。仿真和实验结果表明：相比于采用积分分离设计的PI调节器,该方法使电流更快速、平滑地跟踪指令值,且跟踪过程无超调,增强了电主轴电流控制的鲁棒性。

关键词: 永磁同步电主轴, 电流PI调节器, 跟踪微分器, 过渡过程

Abstract:

The conflict between overshoot and response speed inherent in current PI regulator of PMSS was difficult to resolve, which would lead to the overshoot in the current tracking process and increase the difficulty on tuning PI parameters. As the contradiction between “fast” and “overshoot” was the inherent property of PI regulator, based on auto-disturbances rejection control(ADRC) theory, tracking-differentiator was adopted to arrange transient process for d/q current commands and the tracking process of PI regulator for current step signal was smoother. Simulation and experimental results show that, compared with integral separated PI regulator, the current values can track the commands more quickly and smoothly, and the overshoot in transient process is eliminated and the system robustness is strengthened.

Key words: permanent magnet synchronous spindle(PMSS), current PI regulator, tracking-differentiator, transient process

中图分类号:

TP276

于家斌, 王小艺, 许继平, 秦晓飞. 基于跟踪微分器的永磁同步电主轴电流控制算法[J]. 中国机械工程, 2014, 25(2): 191-196.

Yu Jiabin, Wang Xiaoyi, Xu Jiping, Qin Xiaofei. Current Control Algorithm of Permanent Magnet Synchronous Spindle Based on Tracking-differentiator[J]. China Mechanical Engineering, 2014, 25(2): 191-196.

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