Research On Self-tuning Technology Of Permanent Magnet Synchronous Motor Controller Parameters

With the rapid development of power electronics and motor control theory,permanent magnet synchronous motor(PMSM)has many advantages such as simple structure,small size,low noise,strong overload capacity,large power factor,high power density,good sealing,and high reliability.PMSM is widely used in robots,CNC machine tools,home appliance industries,electric vehicles,rail transportation,aerospace and other fields,and it has gradually become the"mainstream"of motor development in servo systems.High-performance PMSM servo systems mostly use cascaded vector control with multiple loops(current loop,speed loop,or position loop)at present.In order to achieve fast tracking and stability of signals such as motor current and speed,most of the loops use PI controllers for adjustment.PI controller parameters directly determine the control performance.As a nonlinear,strongly coupling and complex system,it is difficult to accurately model the PMSM.Traditional PI parameter adjustment methods often use manual adjustment or empirical formulas,and the obtained parameter control effects cannot be guaranteed.In addition,the fixed PI controller parameters can not meet the performance requirements of the servo system for complex and variable operating conditions such as industrial control and rail transit.Therefore,it is of great practical significance and application value to study how to realize automatic tuning of PMSM controller parameters.First of all,in this paper,the classification and working principle of PMSM were introduced,the mathematical model of surface-type PMSM was established,the vector control strategy of i_d=0 was selected and analyzed,and a double loop control of speed loop and current loop was adopted in the system.Furthermore,the principle and specific implementation of space voltage vector pulse width modulation technology are studied,which laid a theoretical foundation for the concrete realization of the back servo system.Secondly,the feasibility of a PI parameter offline setting for permanent magnet synchronous motor based on an improved wolf pack algorithm was discussed.After analyzing the working principles and deficiencies of the standard wolf pack algorithm,the original algorithm was improved.And four basic testing functions for smart algorithms were used to verify the performance of the improved wolf pack algorithm.Through the excellent optimization ability of the improved wolf pack algorithm.The global search of the PI parameters of the PMSM servo system was performed,the ideal PI controller parameters were directly found.And a simulation model was established through simulink,which verified the effectiveness and superiority of the method.Additionally,the working principle of fuzzy control algorithm was introduced.the fuzzy PI control algorithm was used to carry out on-line tuning of PMSM controller parameters,ande the system simulation model based on fuzzy PI control was established in simulink.Compared with the traditional PID under different working conditions,it was found that the PMSM servo system under the fuzzy PI control algorithm had better dynamic performance and proved the feasibility of the fuzzy PI algorithm.Finally,a PMSM servo system test platform was built based on STM32F407microprocessor,including the design of the hardware circuit of the servo system and the establishment of each module of the software.Through the actual test of the servo system,it was proved that the servo system based on PI controller parameter self-tuning algorithm had good adaptability and effectively improved the performance of the servo system.