矢量控制中电流环和速度环PID参数设计指南

1、1:PIdesignforCurrentControllersPIDesignforCurrentControllers暫J错wlfQ畤叫伸issimplyaseringaintermK：frv,trmsp&cifi&sinflectionffquency*InstaSPIN-FOCusesaseriesconfigurationforthePIcurrentcontroller.PIDesignforCurrentControllers亡urrarrfLMnvRurrdCUJFWirClosedloopsystemtransferfunctionrindgains0andDtokeepREA

2、LpolesChooseKtoremovethepoleGk)=PIDesignforCurrentControllers5d31R廝匚F=lK,isdependentontheMotorsparametersSubstitutebackintothetransferfunctionandsolveforKp.-K,setsthezeroofthePIcontrollerandcancelsoutoneofthetwopolesinthecurrentcontrolsystem.Thisgainisdependentuponthemotor.Kpsetstheclosedloopbandwid

3、thofthecurrentcontrolsystem.Kpcanbeadjustedtomakethesystemmoreorlessstiff.2:PIdesignforspeedcontrollersPIDesignforSpeedContrailersInstaSPIN-FOCusesaparallelconfigurationforthePIspeedcontroller.Usetheseriesconfigurationtodoanalysis.Kptern?spBrjftesifregdjnathigherfrequenciesKafermspeciesthegBinatJciw

4、effreqmnresLMotorSpeedControlTransferFunctionFindspdKjZbfq昭州0dBfriegyenoy円阳SettheopenloopsystemszeroandpoleequaldistancebetweenthEunitygainfrequency6圧口mpmgfactor3p3,1.w(s)=-y=丁玖*-一_PMSMtorque/currenttransferfunction%鈕=6-牡旳and映占-険阳Lz甘Lod(i=Loadtransferfunctiongr=卅厂-沖冒吨ipdK严Openloopspeedcontrolsystemt

5、ransferfunctionCojumancT&tfPiMafarCurre/?EKJ6.FindspdKpSolveforunitygainatthezeroinflectionpointfrequencyNowthespdKpgainiissolvedThereareequationsdescribingthecurrentandspeedcontrollerPIgains.Howarethesegainschosen?FindCurrentControllerBandwidthDampingfactoreffectstheshapeandbandwidthofthespeedcontr

6、olbandwidthwhilecurrentloopbandwidthaffectsthespeedcontrolbandwidthFindanequationthatrelatesSpeedcontrolbandwidthtocurrentcontrolbandwidthanddampingfactorFindCurrentControllerBandwidthKs&ies吞、BWCJ+216-L86(rad/sec)iUseanempiricalfunctiontocalculatethecurrentcontrollerbandwidthoncedampingfactorandspeedloopbandwidtharechosenCurrentandSpeedControllerdesignprocessChoosethespeedcontrollerclosedloopbandwidth(BW5)Choosethedampingfactor6)Usuallygreaterthan2Calculatethecurrent匚losedloopbandwidthandgain&二十2石1居6(r/sec)2.ECalculatethecurrenttontrollerKsgainfromRs/Ls瓦=IC