永磁同步电机伺服系统H∞控制研究

为提高永磁同步电机伺服系统的鲁棒性和快速性，论文引入了H∞控制策略。针对永磁同步电机永磁体磁链为常数的特点，对其d-q轴模型进行分析，建立了永磁同步电机伺服系统的动力学方程。根据伺服系统参数变动范围和扰动力的特点，选择了较优的权重函数，设计了H∞鲁棒速度控制器。仿真结果表明，设计的H∞速度控制器与传统的PI控制器相比，对模型摄动具有较强的鲁棒稳定性及良好的抗扰动能力，响应速度快且指令跟踪能力强。

Vector Control for Permanent Magnet Synchronous Motor Servo System

H∞ is used in the permanent magnet synchronous motor(PMSM) for the high performance servo applications.Considering the characteristic of the magnet flux of PMSM to be constant,the dynamic equation of the PMSM servo system is obtained by analyzing PMSM d-q model.The optimal weights were selected and an H∞ velocity controller was designed according to the range of model uncertainty and disturbance characteristic existing in the servo system.Simulation results show that the controller is superior to the conventional PI controller in dynamic stability performance and speed tracking power,and the H∞ controller has strong robustness to external disturbance.