永磁同步电机三闭环伺服控制设计及实验

2011183000、、、、、。、、。。、、1。4、、、。id0、cosφ1、、、、。id0。1PIPMSM、。、PI。1.1PIPI1。Kp1+1τisPWM。PWMsTσi1sTσi+1sTσi1ffR+Ls1。I23。τiLRFcosKpLsTσis+11FccsFcos1+FcosKpLTσis2+Ls+Kp2KpL4ζ2Tσiζ0.707。FccsKpLTσis2+Ls+Kp200.0000009s2+0.006s+202。1.2PIPI3Ksp1+1τspsKcJ4。FccsKpLs+Kp33FsosKτsps+1s2Ts+14KKspKcJτspTLKphτspT。h。Tτsp。τspKωcn。hωcnτspK。hωcnK。ωcnTtspKωcnτsph+12τsp25ωcn0.5ω1+ω26hωcnτspK。h5～6。78τsphLKp7KspJKph+12hKcL8h578τsp0.0015Ksp5.41。4Fsos0.013796s+9.1970.00000069s20.0003s+192ts00.511.522.51.41.210.80.60.40.20StepResponseAmplitude×103200012。、3。1Controller1R+Ls1sTσi+1Kp（1+1τis）i*i3KcωController1JsKsp1+1τspsω*ShejiyuFenxi◆167FscsFsos1+Fsos104。1.3PI5。PIKsp1+1τsps。。。TwKwGwsKwTws+111。。KppGposKppKw9.55sTws+112Kw。Tw。TwnsdJ9.55Tsd13nsd、Tsd12Kpp9.5524nsdJKwTsd1414。2PI50.282Ω0.175Wb0.0046kg·m2。2.1d、qPIid、iqid、iq。6iq3Aidid_ref0～12Aid。7id0Aiqiq_ref0A12Aiq。2.28100rads0.01s800rads±10rads。3id0PIPI。。d、q±10rads。。～～201105171986—。6id00.050.10.150.20.25ts5051015id_real00.050.10.150.20.25ts5051015id_ref4h537%00.0010.0020.0030.0040.0050.0060.0070.0080.0090.01ts00.20.40.60.81.21.41.61AmplitudeStepResponse5KppControllerPP*2π60s7iq00.050.10.150.20.250.30.351510505iq_ref00.050.10.150.20.250.30.351510505iq_realtsts815.8515.915.951616.0516.1ts10008006004002000speed◆ShejiyuFenxi168