车用PMSM的双闭环分数阶PID控制策略研究

纯电动汽车永磁同步电机（PMSM）控制系统是一种非线性、强耦合的复杂系统，为提高永磁同步电机的整体控制性能以及鲁棒性，文中提出了一种双闭环分数阶PID控制策略，分别对电流内环和速度外环进行相应的分数阶控制。通过建立电机的电流环模型进而得到整体系统的分数阶模型，设计出电流环以及速度环的分数阶PID控制器，并利用粒子群优化算法（PSO）对控制器参数进行寻优，以便于获得更好的控制性能。将所设计的分数阶控制器应用于车用永磁同步电机的控制中，通过与传统PID控制在不同转速、负载突变时的控制性能相对比，验证了文中所设计的分数阶PID控制器具有良好的动态特性和鲁棒性。

Research on fractional PID control strategy of double closed loop for vehicle PMSM

The control system of permanent magnet synchronous motor (PMSM) for pure electric vehicles is a nonlinear and strongly coupled complex system. In order to improve the overall control performance and robustness of the permanent magnet synchronous motor (PMSM), a double closed-loop fractional PID control strategy is proposed in this paper. The current inner loop and the speed outer loop are respectively controlled by fractional order. The fractional order model of the whole system is obtained by establishing the current loop model of the motor, the fractional order PID controller of the current loop and the speed loop is designed, and the particle swarm optimization algorithm (PSO) is used to optimize the controller parameters, so as to obtain better control performance. The fractional order controller is applied to the control of permanent magnet synchronous motor (PMSM), and the performance of PID controller is compared with that of traditional PID controller at different speed and load sudden change.