| As permanent magnet synchronous motor(PMSM)is widely used in various industrial fields and controlled objects become varied,the drive motor control of PMSM have got long-term development.However,it is still unable to solve the problems of immature closed-loop control algorithm,anti-disturbance and on-line parameter self-tuning at this stage,especially when the load is changing,the control parameters need to be adjusted,which makes slow response of motor speed and the unstable system.This article mainly aims at the self-tuning for on-line parameter of control paraments when the load object of speed regulating system of permanent magnet synchronous motor(PMSM)is changing.Firstly,establishing the mathematical model of the motor and stating the basic principle of vector control.Then establish the model as the PI control method and the fuzzy PID control theory is separately applied to the vector control system,and analyze it through the MATLAB simulation and compare the results.The results show that the rubustness of fuzzy PID is better than PI control when the load is not changing;but the control effect of fuzzy PID is not ideal when the load is under disturbance.Therefore,this article offers an on-line self-tuning control algorithm for regulating the PI paraments of velocity loop by spliting the inertia into motor inertia Jm and the load inertia J_L,considering the compensation of total disturbanceΔas the integration of product of load torque,friction and load inertia with angular velocity,and making the compensation of total disturbanceΔto the output of speed velocity loop of PI controller.Making the compensation of U_q and U_d to the output of current-loop controoler for regulation of PI paraments of it.So the PI paraments gained each one from speed velocity loop and current-loop at one time are optimal and comprehensive.It shows that the control paraments are on-line self-tuning when the load is under disturbance after the improvement of vector control model of PI controller,establishment of simulation model and the analysis of results.At last,the results meet the requirements by the verification of results based on the establishment of experimental platform.In order to verify the results,this article uses TMS320F28035processor to build a support platform based on permanent magnet synchronous motor speed control system,and testing the relationship of motor torque and speed on dynamometer made by Leadshine Technology Co.,Ltd and Shenzhen Just Motion Control Electromechanics Co.,ltd and the results show that the load capacity of on-line self-tuning control algorithm of permanent magnet synchronous motor(PMSM)speed-adjusting system is stronger with more adaptive. |
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