Adaptive PID Speed Control Design for Permanent Magnet Synchronous Motor Drives
Adaptive PID Speed Control Design for Permanent Magnet Synchronous Motor Drives
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DOI：
10.1109/tpel.2014.2311462
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发表时间：
2015-02-01
影响因子：
6.7
通讯作者：
Choi, Han Ho
中科院分区：
文献类型：
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作者：
Jung, Jin-Woo;Viet Quoc Leu;Choi, Han Ho
提出了一种自适应比例-积分-微分（PID）速度控制方案用于永磁同步电机（PMSM）驱动。该控制器由三个控制项组成：解耦项、PID项和监督项。第一项用于补偿非线性因素，第二项用于自动调节控制增益，第三项用于保证系统稳定。与离线整定PID控制器不同，该自适应控制器采用梯度下降法在线调整控制增益。因此，它可以自适应地处理任何系统参数的不确定性在现实中。该方案不仅简单易行，而且保证了速度跟踪的准确性和快速性。证明了控制系统是渐近稳定的。为了验证所提出的算法的有效性，提出的自适应PID控制器和传统的PID控制器之间的PMSM驱动器进行对比实验。仿真结果表明，在存在参数不确定性的情况下，与传统PID控制方法相比，该方法具有更快的瞬态响应速度和更小的稳态误差，具有更好的上级控制性能。
This paper proposes an adaptive proportional-integral-derivative (PID) speed control scheme for permanent magnet synchronous motor (PMSM) drives. The proposed controller consists of three control terms: a decoupling term, a PID term, and a supervisory term. The first control term is employed to compensate for the nonlinear factors, the second term is made to automatically adjust the control gains, and the third one is designed to guarantee the system stability. Different from the offline-tuning PID controllers, the proposed adaptive controller includes adaptive tuning laws to online adjust the control gains based on the gradient descent method. Thus, it can adaptively deal with any system parameter uncertainties in reality. The proposed scheme is not only simple and easy to implement, but also it guarantees an accurate and fast speed tracking. It is proven that the control system is asymptotically stable. To confirm the effectiveness of the proposed algorithm, the comparative experiments between the proposed adaptive PID controller and the conventional PID controller are performed on the PMSM drive. Finally, it is validated that the proposed design scheme accomplishes the superior control performance (faster transient response and smaller steady-state error) compared to the conventional PID method in the presence of parameter uncertainties.