PMSM Model Reference Adaptive Vector Control Based On Iterative Learning Algorithm

Permanent magnet synchronous motor is widely used in various fields in industrial production for its many advantages,such as high power density,small size,high efficiency,low noise,and simple structure.Vector control technology has been widely used in the permanent magnet synchronous motor control system,for it has simple control structure,superior dynamic performance,and can achieve a wide range of speed control or positioning control.In this paper,The adaptive theory is applied to the permanent magnet synchronous motor control system to identify the motor speed in order to realize the speed sensorless control of the permanent magnet synchronous motor.Considering the higher requirements of permanent magnet synchronous motor control performance in some high-precision manufacturing fields,this paper adopts a novel iterative learning controller which does not depend on the control object mathematical model in the speed loop PI regulator of the traditional vector control system.Its function is to compensate the q-axis current reference in order to achieve effective suppression of motor speed and torque ripple.This paper firstly introduced the physical structure and mathematical model of PMSM,and deduced and analyzed the principles of coordinate transformation and space voltage vector control in detail.Then gave the double closed loop vector Control System model of speed outer loop and current insider loop,which adopted the i_d=0 control strategy based on rotor field orientation,and simulated and analyzed the model on the MATLAB/SIMULINK simulation platform.The simulation results verified the effectiveness of the control system.Secondly,this paper briefly introduced the related theory of the model reference adaptive system and deduced the permanent magnet synchronous motor's adaptive identification rate based on the current equation of the permanent magnet synchronous motor in the d and q axis coordinates.Then gave a model reference adaptive vector control system model of the permanent magnet synchronous motor.Based on the previous vector control system simulation model,built the model reference adaptive vector control system of the permanent magnet synchronous motor and performed its simulation analysis.The simulation results show that the estimated rotational speed has a good tracking effect on the actual rotational speed,and there is basically no error in steady state,which verifies the effectiveness of the model reference adaptive system in identifying the motor speed.Then,this paper introduced iterative learning control theory and its mathematical description in detail.A closed-loop PI iterative learning control method for PMSM control system is proposed.The stability of the PI-type iterative learning controller is analyzed and the Factor-based closed-loop PI learning rate is given,and the convergence of the learning rate was analyzed.Based on the simulation model of the model reference adaptive vector control system of the permanent magnet synchronous motor,a model reference adaptive vector control system of the permanent magnet synchronous motor based on iterative learning control was built to perform the motor under low and high speed conditions.The simulation analysis shows that the speed pulsation has a great degree of weakening at high and low speeds and the accuracy of speed tracking is improved.At low speed,the torque pulsation is also weakened,which verifies the effectiveness of the iterative learning algorithm.