矢量控制中電流環(huán)和速度環(huán)PID參數(shù)設(shè)計(jì)指南

1、Mb*1: PI desig n for Curre nt Con trollersPI Design for Current Controllersf*bii氏pKT 叫 KJKpKJ* u simply a seriet gain termK嚴(yán)* ttrm specifies tbi inftectian frequency InsUSPINFOC uses a series configuration for the PI current controller.PI Design for Current Controllers精選范本flLr JR15 t I上I + £皿2

2、77訃”| 二"ISFiiind gains C and D to keep REAL polesClosed Hoop system transfer fiinctjo nChoose K to remove the polePI Design for Current Controllers也 is dependent on the Motor s parametersSubstitute back in to the transfer function and salve for Kp.- K, sets the zero of the PI controller and can

3、cels out one of the 知0 poles in the current conlroll system. This gain is dependent upon the motor Kp sets the closed loop bandwidth of the current control system. Kp can be adjusted to make the system more or less stiff.2:PI desig n for sp eed con trollersPI Design for Speed ControllersDi'迭 I廠.

4、_ nt4Wrw*RKp>amc|F% tem? sfKcj伽s (ftp 曲 si htgtrrKj rt tptcJflts rA#tr /omw A*旳u«nc剜 InstaSPIN-FOC uses a paratllel confiiguratiion for the P speed controller Use the series configuration to do analysis.Speed Control Transfer FunctionI嚴(yán)礦r嚴(yán)賦嚴(yán)G甘Open loop speed control system transfer functioni

5、e/B 費(fèi)0如 friegwcxPate SvV"? LFind spdKiSet the open loop systrn's zero and pole equal! distance between the unity gain frequencyfgf/s = 叫m and竹皿=M -叫$鈿扎;-erar-jflnnr血n P6 damping factorFind spdKpJ£ hHbJiTE*Ji"財(cái)1Lsy n s於-曲廣Solve for unity gain at the zero ” b in flection point frequ

6、encyNow the spdKp gain is solved There are equations describing the current and speed controller PI gains, How are these gains chosen?Find Current Controller Bandwidth-"HE >3.41上 1I1 =J ”T1<«JrL 1-r- =_I, JJ-巧：.口jir”！ mp MuriMMh- Damping factor effects the shape and bandwidth of the

7、speed control bandwidth while current loop bandwidth affects the speed control bandwidth Find an equation that relates Speed control bandwidth to current control bandwidth and damping factorFind Current Controller Bandwidth<J=8+26三一1.86 (racf sec) 丿 Use am empiicall function to calculate the curr

8、ent controller banddth once dam ping factor and speed loo p bandwidth are chosenCurre nt and Speed Con t roller design pro cess1.2.Choose the speed controller closed loop bandwidth (BWJ Choose the dam ping factor (6)U&udlly greater thjn 2Csiujiate the current closed loop bandwidth and garn=(S+2J6 e -J.S6 (?WAec)Calculate The current 匚ontroller Ky gain from Rs/Lsr.-JtfrJfll _ RCalcul