基于预测函数控制和扰动观测器的永磁同步电机速度控制

设计了基于预测函数控制的速度控制器，以减小永磁同步电机的转矩波动，提高电机的转速控制精度。针对因外部扰动因素引起的控制器跟踪性能下降问题，设计了基于预测函数控制和扰动观测器的双环控制器；通过扰动观测器估计系统扰动，并据此产生转矩电流补偿量对控制量进行前馈修正，从而实现扰动的抑制。实验结果显示：当电机从静止跟踪到设定600 r/min转速时，系统没有超调，稳态精度为2 r/min；当电机以600 r/min稳速运行并加入1.6 N·m的转矩扰动时，转速最大波动为5 r/min。与传统的PI控制算法相比，所设计的控制器使转速波动减小了4.2% 。仿真分析和实验数据表明：基于预测函数控制和干扰观测器的控制器能够有效地抑制扰动，提高系统转速跟踪精度。

Speed control for PMSM based on predictive functional control and disturbance observer

A speed controller was designed based on predictive functional control to reduce the torque ripples of a permanent magnet synchronous motor and to increase the speed control accuracy at a steady state. To solve the problem of controller deterioration due to the load disturbance, a two loop controller was designed based on the predictive functional control and a disturbance observer. The observer was used to estimate the system disturbance and compensation current was produced to feed in the speed controller to attenuate the load disturbance. Experimental results demonstrate that the system has no overshot and the speed fluctuation is 2 r/min when the motor reaches the steady state of 600 r/min from stillness. The speed fluctuation is 5 r/min when the motor is operating at a speed of 600 r/min and a 1.6 N·m torque disturbance is added. Compared with the traditional PI controller, the proposed controller decreases the speed fluctuation by 4.2%. Simulation and experimental results show that the proposed controller can increase steady accuracy and improve anti-disturbance performance.