变增益PI控制器在开关磁阻电机中的应用

摘要

以12/8极SRM为研究对象,建立了电机s域一阶动态模型,提出了变增益调节的自适应控制方法,设计了工程上易于实现的变增益PI转速控制器.转速控制器的输出根据电机转速的高低分别作为参考电流或占空比,给出了PI参数随系统控制电压和转速变化的表达式,实现了PI参数的自适应调节.通过实验对比了传统PI控制器和变增益PI控制器的控制效果,实验结果表明采用变增益PI控制器时,系统动态响应快,超调小,稳态精度高,有较强的抗扰动能力.%An easily implementable gain-scheduling PI speed controller was designed based on the characteristics of SRM,the output of the speed regulator was used as the reference current or the duty cycle depending on the actual speed of motor.A first-order dynamic model in s domain was derived,which was useful for gain-scheduling control.The relationship between PI parameters,average voltage and actual speed of the system was obtained.The adaptive adjustment of PI parameters was realized.A traditional PI controller and the gain-scheduling PI controller have been compared by experiments,the results show that a high performance is achieved when adopting the variable gain PI controller.The system has rapid response with little overshoot and high robustness to load torque disturbance,the steady state error is zero.