摘要
由于电机本体、驱动电路及机械连接等多环节因素影响，传统PI(proportional integral)控制下永磁同步电机在低速运行时易出现较大的转速波动。首先，建立多源性力矩扰动模型与分析转速波动机理，将扰动分为与机械角相关的周期性干扰与非周期低频干扰两部分；然后，提出一种结合迭代学习控制与扰动观测器的扰动抑制策略，利用控制误差对周期性扰动进行在线学习，利用反馈状态量结合学习信息对低频非周期扰动进行观测，将两部分结果共同补偿到电磁力矩，实现对多源性扰动的抑制。在给出所提控制器结构基础上，分析了所提控制策略的有效性与收敛性，给出控制器主要参数设计方式。实验结果表明所提控制策略相较于传统控制策略整体动态性能相近，在稳态时相较于PI控制将转速波动抑制到1/4以下，相较于传统抑振策略整体转速波动在1/2以下，在负载力矩突变时相较于PI控制速度变化在1/2以下，证明所提算法在多源性扰动抑制方面的有效性与优越性。
Abstract
Due to the influence of multiple factors such as the motor body, drive circuit and mechanical connection, the permanent magnet synchronous motor under traditional PI(proportional integral) control is prone to large speed fluctuations during low-speed operation. First, the multi-source disturbance model is established with analyzing the mechanism of rotational speed disturbance, and the disturbance is divided into two parts: the periodic disturbance related to the mechanical angle and the non-periodic low-frequency disturbance; then, a disturbance suppression strategy combining iterative learning control and disturbance observer is proposed, which utilizes the control error for online learning of periodic disturbance, and the feedback state combined with the learning information for observation of low-frequency nonperiodic disturbance, and the results of the two parts are jointly compensated to the electromagnetic torque to achieve a good suppression of multi-source disturbance. On the basis of the proposed controller structure, the effectiveness and convergence of the proposed control strategy are analyzed, and the main parameters of the controller are designed and selected. The experimental results show that the proposed control strategy has similar overall dynamic performance compared to the traditional control strategy, the speed fluctuation is suppressed to less than 1/4 in steady state compared to the PI control, the overall speed fluctuation is less than 1/2 compared to the traditional vibration suppression strategy, and the speed change is less than 1/2 compared to the PI control in the case of a sudden change in the load torque, which proves the effectiveness and superiority of the proposed algorithm in the suppression of multi-source disturbances.
关键词
永磁同步电机 /
多源性扰动 /
迭代学习控制 /
扰动观测器
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冯煜焜, 姚文熙, 李武华.
结合迭代学习与扰动观测器的永磁同步电机多源扰动抑制[J]. 振动与冲击, 2025, 44(3): 230-237
FENG Yukun, YAO Wenxi, LI Wuhua.
Multi-source disturbance suppression of permanent magnet synchronous motor with iterative learning and disturbance observer[J]. Journal of Vibration and Shock, 2025, 44(3): 230-237
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