摘要
永磁同步电机位置伺服系统常采用电流环、转速环和位置环的典型三闭环控制结构,但存在抗扰动能力差的特点。考虑到外部干扰对系统的影响,采用干扰观测器的方法来提高位置跟随的鲁棒性。在分析干扰观测器原理的基础上,对包含干扰观测器的位置伺服系统的整体控制结构进行了设计。按照永磁同步电机的数学模型和电机参数,对三环PID控制器的参数的计算方法进行了分析,并推导出干扰观测器的模型,最后进行了仿真分析。仿真结果表明在加入干扰观测器后,位置伺服系统的抗外界干扰能力得到了明显的提高。
The typical three-loop control system, including current loop, speed loop and position loop, is used in the PMSM position servo system, but the anti-disturbance ability is poor. In consideration of system responses to the external disturbance, the disturbance observer （DOB） was proposed to improve the robust- ness of position tracking. After the principle of DOB was analyzed , the whole control model of position servo system with DOB was designed. Based on the mathematical model and parameters of PMSM, the calculation method of three-loop PID controller parameters was analyzed and the model of DOB was deduced. Finally the simulation analysis was conducted. Results of the simulation validated that anti-disturbance ability of position servo system improved obviously after introducing the DOB.
出处
《微电机》
北大核心
2013年第2期33-36,共4页
Micromotors
关键词
位置伺服
三环控制
干扰观测器
position servo
three-loop control
disturbance observer
