PMSM的二自由度PID控制

为了在运动控制系统中实现对传统PID控制的有效改进，提出了针对交流永磁同步电动机的二自由度PID控制算法，给出了一般和简化的二自由度控制器结构图及设计方法.该方法有效地解决了PID控制难以兼顾跟踪性能与抗扰性能的缺陷，使得系统在运行过程中，控制器输出可以保持动态最优.对于小惯性的PMSM系统进行了仿真，仿真结果表明：该方案对系统参数变化和负载扰动具有很强的鲁棒性，并具有良好的动、静态性能.

Two degree of freedom PID control for PMSM

To improve the traditional PID controller used in motion control systems,the algorithm of two-degree-of-freedom(2-DOF) PID control was studied and applied to a permanent magnetism synchronous motor(PMSM) drive,and its design method and structure were proposed.By this control algorithm,the problem that conventional PID controllers can't give both excellent track and prefect interference resistance performances was solved effectively,and the controller outputs maintained optimal inoperation.The control system based on small inertia PMSM was analized by simulation.The results verify that the proposed control scheme has strong robustness to parameter variation and external disturbances.Simultaneously,the servo system possesses good static and dynamic performances.