关键词: 永磁同步电机, 负载转矩观测器, 李雅普诺夫第二法, 电流动态解耦, 机械参数测量

Abstract:

A load torque observer was increased in the three closed loop cascade control structure with traditional PID control of permanent magnet synchronous motor, and load torque compensated for speed loop output by feedforward in order to improve the anti-interference capability of the control system. Load torque observer was adopted a reduced-order state observer, and an optimization method based on Lyapunov second method was put forward to search for the observer’s optimal parameter. In order to improve the torque compensation performance, current loop dynamic decoupling controller was designed based on the complex vector analysis. A simple method for measuring mechanical parameters was proposed. The experimental results verified the validity and practicability of the proposed method.

Key words: permanent magnet synchronous motor (PMSM), load torque observer, Lyapunov second method, current dynamic decoupling, mechanical parameter measurement