Motor control method based on PI parameter self-tuning

Abstract

The invention provides a motor control method based on PI parameter self-tuning. Based on a traditional motor (permanent magnet synchronous motor) servo system, a genetic controller and a fuzzy controller are added. The genetic controller is adopted to optimize a fuzzy control rule, a quantification factor and a proportion factor in the fuzzy controller, and the optimal fuzzy control rule, quantification factor and proportion factor are obtained. At the same time, the fuzzy controller which is optimized by the genetic controller is adopted to carry out PI parameter self-tuning on a speed PI regulator, and thus the fact that the system has the optimal dynamic and static performance is ensured. The motor control method has the advantages that a genetic algorithm can search the global optimum, the fuzzy algorithm has strong adaptability and does not rely on a mathematical model of a control object, and the anti-interference ability is strong, thus the motor (permanent magnet synchronous motor) servo system has better dynamic and static performance and strong adaptive ability and better robust performance.

Description

technical field [0001] The invention relates to the field of motor control technology, in particular to a motor control method based on PI parameter self-tuning. Background technique [0002] With the development of power electronics technology and modern control technology, the motor technology has been further improved. Among them, the permanent magnet synchronous motor is characterized by its small size, large air gap flux density, high torque capacity ratio and torque inertia ratio, and There are no advantages such as rotor excitation loss, and it has gradually become the "mainstream" of servo system motor selection. Permanent magnet synchronous motor AC servo system has been widely used in various industries. In recent years, with the continuous development of new energy sources, especially the rapid increase in wind power installed capacity, the permanent magnet synchronous motor servo system has a broader market demand. At the same time, the market has put forward s...

AI Technical Summary

Problems solved by technology

[0003] The common permanent magnet synchronous motor servo system based on vector control adopts a double-loop structure of speed loop and fast current loop, and the most important speed regulator generally uses a proportional-integral regulator (PI regulator), and the adjustment performance of the PI regulator and PI parameters Closely related, the traditional manual setting is too dependent on human experience, and the setting effect cannot be guaranteed

In addition, the traditional PI regulator lacks the ability to adapt to the working environment, while the permanent magnet synchronous motor is a nonlinear, time-varying, and long-delay complex system, which includes load resistance disturbances, rotor inertia change disturbances, friction disturbances, Ripple thrust disturbance, cogging thrust disturbance, permanent magnet flux linkage harmonic disturbance and other disturbances, these disturbances will have a significant impact on the accuracy, stability, dynamic and static performance of the system

For example, in the process of robot manipulator control and photovoltaic solar panel deployment, the system inertia is constantly changing: the larger the inertia, the slower the system response, the lower the accuracy, and even the phenomenon of crawling, and the smaller the inertia, the easier it is for the system to overshoot or oscillation

[0004] In recent years, the emerging intelligent control has the advantage of partially improving the above shortcomings. However, in the current research, it is rarely used in the permanent magnet synchronous motor servo system through interdisciplinary research. In the rare related research, it is only a single Its research does not integrate and complement each other's respective advantages, and its system performance needs to be further improved

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