永磁同步电机系数自整定速度补偿控制方法

An adaptive speed compensation control method with coefficient self-tuning is proposed to improve the anti-torque disturbance performance of the permanent magnet synchronous motor (PMSM) speed servo system. Firstly, a reduced order state observer of PMSM is designed using the state space representation method to realize real time identification and estimation of load torque. Then, the torque identification value is compensated to the output of the PMSM speed controller as the compensation input of the current controller, which realizes the adaptive speed compensation and improves the torque disturbance resistance. In terms of the problem that the torque identification is affected by the change of rotational inertia, the influence law of the time-varying characteristics of inertia on the torque observation results is analyzed, and a self-tuning control method of compensation coefficient based on the sigmoid function is proposed. According to the electromagnetic torque and torque identification value, the self-tuning sigmoid function is used to adjust the compensation coefficient online and in real time, so the parameter self-tuning of adaptive speed compensation is realized. Experimental results show that speed recovery time of the proposed coefficient self-tuning control method is faster. Compared with the conventional fixed coefficient control method, the speed adjustment time is reduced from 120 ms to 100 ms. This method can reduce the impulse and oscillation caused by speed compensation when torque identification overshoot or deviation occurs due to the deviation of inertia from its true value, and improve the speed control performance of PMSM servo system effectively.