# 电机学习笔记4——PMSM矢量控制双环PI参数整定（1）

## 1. 电流环控制器参数设计

u q = R s i q + L q d i q d t + ω r ( L d i d + ψ f ) u_q = R_si_q + L_q\frac {di_q}{dt} +\omega_r(L_di_d+\psi_f)

u q = R s i q + L q d i q d t u_q = R_si_q + L_q\frac {di_q}{dt}

G M ( s ) = i q ( s ) u q ( s ) = 1 L q s + R s G_M(s) = \frac {i_q(s)}{u_q(s)}=\frac 1{L_qs+R_s}

G i o p e n ( s ) = K p ( τ i s + 1 ) τ i s ⋅ K P W M T P W M s + 1 ⋅ 1 L q s + R s G_{iopen}(s)=\frac {K_p(\tau_is+1)}{\tau_is}· \frac {K_{PWM}}{T_{PWM}s+1} ·\frac 1{L_qs+R_s}

G i o p e n ( s ) = K p K P W M L q s ( T P W M s + 1 ) G_{iopen}(s)=\frac {K_pK_{PWM}}{L_qs(T_{PWM}s+1)}

G i c l o s e ( s ) = K g s 2 + 1 T P W M s + K g K g = K p K P W M L q T P W M G_{iclose}(s)=\frac {K_g}{s^2+\frac 1{T_{PWM}}s+K_g}\\ K_g = \frac {K_pK_{PWM}}{L_qT_{PWM}}\\

G ( s ) = ω n 2 s 2 + 2 ξ ω n s + ω n 2 G(s)=\frac {\omega_n^2}{s^2+2\xi\omega_ns+\omega_n^2}

ω n = K g = 1 2 T P W M ξ \omega_n = \sqrt{K_g}=\frac 1{2T_{PWM}\xi}

K p = L q 4 ξ 2 K P W M T P W M K i = R s 4 ξ 2 K P W M T P W M K_p = \frac {L_q}{4\xi^2 K_{PWM} T_{PWM}} \\ K_i = \frac {R_s}{4\xi^2 K_{PWM} T_{PWM}}
PI控制器理想阻尼系数 ξ \xi 一般取0.707。 K P W M K_{PWM} 视情况而定，此处取1。最终可以得到
K p = L q 2 T P W M K i = R s 2 T P W M K_p = \frac {L_q}{2T_{PWM}} \\ K_i = \frac {R_s}{2T_{PWM}}

## 2. 转速环控制器参数设计

G i c l o s e ( s ) = K g s 2 + 1 T P W M s + K g ≈ 1 4 ξ 2 T P W M + 1 G_{iclose}(s)=\frac {K_g}{s^2+\frac 1{T_{PWM}}s+K_g}\approx\frac 1{4\xi^2T_{PWM}+1}

T e = 3 2 p n [ ψ f i q + ( L d − L q ) i d i q ] T_e = \frac 32p_n[\psi_fi_q + (L_d-L_q)i_di_q]
i d = 0 i_d = 0 的控制方式下可以进一步简化，并结合电机的运动方程和转速公式：
T e = 3 2 p n ψ f i q T e − T L = J d ω d t n = 30 ω π T_e = \frac 32p_n\psi_fi_q \\ T_e - T_L= J\frac {d\omega}{dt}\\ n =\frac {30\omega}{\pi}

K i = K p τ i , ξ = 0.707 K_i=K_p\tau_i,\xi = 0.707 ,可得开环传递函数为：
G n o p e n ( s ) = K n ( τ n s + 1 ) s 2 ( 2 T P W M s + 1 ) K n = 45 K p p n ψ f J π τ n G_{nopen}(s)=\frac {K_n(\tau_ns+1)}{s^2(2T_{PWM}s+1)}\\ K_n = \frac {45K_pp_n\psi_f}{J\pi\tau_n}

τ n = h ∗ 2 T P W M K n = h + 1 2 h 2 ∗ ( 2 T P W M ) 2 \tau_n = h*2T_{PWM} \\ K_n = \frac {h+1}{2h^2*(2T_{PWM})^2}

K p = J π 150 ∗ p n ∗ ψ f ∗ T P W M K i = K p τ n = J π 1500 ∗ p n ∗ ψ f ∗ T P W M 2 K_p = \frac {J\pi}{150*p_n*\psi_f*T_{PWM}} \\ K_i = \frac {K_p}{\tau_n} = \frac {J\pi}{1500*p_n*\psi_f*T_{PWM}^2} \\

03-27

07-19 3万+
12-28 8万+
11-02 3万+
05-06
05-15 1万+
04-29 9002
12-07 4721
04-12 1万+
07-15 217
03-18 1万+
©️2020 CSDN 皮肤主题: 大白 设计师:CSDN官方博客