矢量控制中电流环和速度环PID参数设计指南

1: PI desig n for Curre nt Con trollers

PI Design for Current Controllers

Choose K, to remove the pole

K MTlea ■ yr

卩

-Kp

住如=Kj/K p

K^ncs

is simply a 铀rf 的 term K ；"冋愀側 specific the in （lecti0n

• InstaSPIN-FOC uses a series configuration for the PI current controller

PI Design for Current Controllers

Closed loop system transfer function

P

r

曲

E apgAEY

C«J mi

rrjMfMimi

Medsured QmwiC

Find gains C and D to keep REAL poles

G （s ） =

PI Design for Current Controllers

'"I

K, is dependent on the Motor parameters

Substitute back in to the transfer function and solve for Kp-

• K, sets the zero of the PI controller and cancels out one of the two poles in the current control system This gain is dependent upon the motor.

・Kp sets the closed loop bandwidth of the cuirrent control system % can be adjusted to make the system more or less stiff.

2:PI desig n for speed con trollers

PI Design for Speed Controllers

© f&rm specifies the 驭In af higher frequencies 怕rm

算眩芒胡診$ 血

g 謝廿 罷仏昵/卅世g 血打时点$

• InstaSPIN-FOC uses a parallel configuration for the PI speed controller. • Use the series configuration to do analysis.

G(s}=

---- n K 严=L Banthddrh

jLi*

War

M'wjiurnX

ar

iFr-aguificy

Speed Control Transfer Function

Speed

3尸 3 加吱

= -PJ

. T~

PMSM torque/current transfer function

Find spdK

Set the open loop system's zero and pole equal distance between the unity gain f 「mquEriGy

§ — damping factor

Loa(i(.'i I =

Load transfer function

GH{$)=

5咛礦司

Open loop speed control system transfer function

CommarTd'ed Cumen f

Ifcf&r Ctj/renf

iWotof

Alofor

F OELIE

1 1

Zero @ 占于sptfK 1*"" 0 aB frequency PWe @ 河略

c ffiPMPn-EEE^

and

^pcle - s 盹阳

Find spdK p

・ There are equations describing the current and speed controller PI gains. • How 日「E these gains chosen?

Find Current Controller Bandwidth

• Damping factor effects the shape and bandwidth of the wpEEd control bandwidth while

current loop bandwidth affects the speed control bandwidth

• Find an equation that relates Speed control bandwidth to current control bandwidth

and clamping factor

1 +——-——

讪K 严

Solve for unity gain at the zero inflection point frequency

”壬呼:

:!£7745

Now the spdK p gain is solved

Curreni I MO ban 阳 itfth