关键词: 永磁同步电机, 超调, 二自由度控制, 负载转矩观测器, 抗负载扰动

Abstract: In order to solve the problems of large overshoot and bad capacity of anti-load disturbance when the traditional PI speed controller was used for permanent magnet synchronous motor ( PMSM) , two degree-of-freedom control method was adopted for the speed controller. To further improve the capacity of anti-load disturbance, a reduced-order load torque observer was designed to estimate the torque. The estimated torque value was transformed to compensating current and imported to the output of two degree-of-freedom controller so that the affection of disturbances such as load torque could be compensated. Simulation results indicated that the two degree-of-freedom control method could reduce the speed overshoot and improve the capacity of anti-load disturbance. The load torque could be estimated precisely by using the observer, and the reference current could be compensated effectively. As a result, the capacity of anti-load disturbance could be furtherly improved.

Key words: permanent magnet synchronous motor ( PMSM), overshoot, two degree-of-freedom control, load torque observer, anti-load disturbance