永磁同步电机伺服系统参数自整定策略

针对传统PI控制存在的缺陷以及永磁同步电机伺服系统运行过程中转动惯量变化的问题，提出了永磁同步电机转动惯量在线辨识PI自整定的控制方法。在伺服系统运行过程中，通过模型参考自适应算法在线辨识转动惯量，对系统中的电流环、速度环以及位置环进行参数整定。建立伺服系统仿真模型，并与传统PI控制方法进行对比。研究结果表明，参数自整定控制方法在转动惯量发生变化时，其动态误差几乎没有变化，比传统方法误差减小了3.23%。该方法具有更好的动静态性能，为解决转动惯量变化以及参数自整定问题提供依据。

Parameter Self-tuning Strategy of PMSM Servo System

Aiming at the defects of traditional PID control and the problem of the moment of inertia change during the operation of the permanent magnet synchronous motor servo system,a PI self-tuning control method for the on-line identification of the moment of inertia of the permanent magnet synchronous motor was proposed.During the operation of the servo system,the moment of inertia was identified online through the model reference adaptive algorithm,and the parameters of the current loop,speed loop and position loop in the system were adjusted.The simulation model of servo system was established and compared with the traditional PID control method.The research results show that the dynamic error of the parameter self-tuning control method is almost unchanged when the moment of inertia changes,and the error is reduced by 3.23%compared with the traditional method.This method has better dynamic and static performance,and provides a basis for solving the problems of moment of inertia change and parameter self-tuning.