基于复合前馈控制的交流位置伺服系统动态特性

摘要

永磁同步电动机(PMSM)位置伺服系统经典PID控制具有控制结构简单、响应快等优点,但存在等速跟踪和正弦跟踪稳态精度低等缺点.提出并设计了复合前馈控制器,其中速度环采用PI控制,位置环通过复合前馈控制的设计来消除等速与正弦跟踪误差.计算机仿真结果表明,该控制器可有效降低PMSM位置伺服系统在等速与正弦跟踪时的稳态跟踪误差,提高其控制精度.%Permanent magnet synchronous motor( PMSM ) position servo system with classical PID control structure was simple, and quick response, however, there were low accuracy in constant speed tracking and sinusoidal tracking.Compound feed forward controller was designed, where speed control loop use PI controller, position loop use the compound feedforward controller to eliminate the constant velocity and sinusoidal tracking error.The computer simulation results showed that the controller could effectively reduce the steady-state tracking error of PMSM position servo system in constant speed tracking and sinusoidal tracking, improved the control precision in this system.