改善步进电机电流响应速度的抗饱和PI控制

目的为了提高连续式包装机的生产效率,提出一种新型的抗积分饱和PI电流控制器设计方法。方法针对PI控制器积分饱和现象引起的步进电机绕组电流响应过慢问题,根据控制器输入输出状态,确定抗饱和增益值的大小,调整积分作用效果。在控制器输入变化较慢时,充分发挥积分器的作用,减小超调量;在输入变化较快时,使积分器更快地退出饱和,提高系统响应速度。结果实验结果表明,该方法较传统PI控制和反计算固定增益PI控制能更精确地控制绕组电流,有效提高了电流响应速度和减小了超调量。结论该方法使绕组电流更好地跟随参考值变化,改善了电机在不同运行状态下的动态性能。

Improvement of Anti-windup PI Control of Current Response Speed for Stepping Motor

The work aims to propose a new design method for the anti-integral windup PI current controller, in order to improve the production efficiency of continuous packaging machine. With respect to the excessively slow response speed for the stepping motor winding current caused by the integral windup of PI controller, the size of anti-windup gain value was determined and the integral action effects were adjusted according to the input and output states of the controller. When the input changed slowly, this controller gave the full play to the integrator to reduce the overshoot; when the input changed quickly, the integrator withdrew from the windup more quickly to improve the response speed of the system. The experiment results showed that, compared with the traditional PI control and back-calculation PI controller with a fixed gain, the proposed method could control the winding current more accurately, which improved the current response speed and reduced the overshoot. This method makes the winding current change with the reference value in a better way and improves the dynamic performance of the motor under different operating conditions.