Gain self-tuning of PI controller and parameter optimum for PMSM drives

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1 ELECTRI C MACHINES AND CONTROL Vol. 14 No. 1 Dec PI PI E E 1% 4r /min TM 359 A X Gain self-tuning of PI controller and parameter optimum for PMSM drives YANG Ming 1 ZHANG Yang 1 CAO He-jin-sheng 1 XU Dian-guo 1 LI Yue 1. Dept of Electrical Engineering Harbin Institute of Technology Harbin 151 China. Beijing Power Transformation Corporation Beijing 154 China Abstract Taking AC permanent magnet synchronous motor PMSM system as the research target a novel accurate and easily realized identification method for moment of inertia is presented. Based on this method a kind of parameters self-tuning control strategy has been put forward. The marked feature of proposed strategy is that after calculating initial PI gains by the identified moment of inertia it has been no longer with speed step response curve including overshoots rise time and oscillation time etc. as PI gains optimization standard but to make motor speed with triangle wave and take evaluating function E as a quantitative criteria for the control effect. The feasibility and efficiency of the proposed strategy has been verified by the experiential results. The optimized control parameters minimized evaluation function E and ensured dynamic tracking performance while increasing the anti-jamming performance. Running with rated speed when impact and release 1% rated load the fluctuation maximum speed of the system is only 4r /min. Key words permanent magnet synchronous motors identification of inertia parameters self-tuning evaluation function parameters optimal HITQNJS

2 3 14 T em = 3 PID P nψ f i q PI T em PID 1 PID model-based - 3 model-free 4-5 Fig. Block diagram for speed regulator Ziegler-Nichols J dω m + T dt L = T em J ω mt - ω m + T L t dt = T em t dt PI J ω E PI mt - ω m + T L t dt = k T em n t c 3 E PI J ω mt t ω m T c T L T em t 1 t n r /min I d = ω r /min T em θ ω i u i v i w k = t n t c J 3 1 Fig. 1 PMSM Block diagram for PMSM i q Jω + T L t dt = k - Jω + T L t dt = k T em n t c T' em n t c T L t dt

1 J = Fig. 3 k T em n t c - k ω 3 T' em n t c 6 The test process of moment inertia 3 PI K P K I h = 5 = h = 5 K P = 3 1-4 K I 3K I P n ψ f J 31 1 666.

3 1 J = Fig. 3 k T em n t c - k ω 3 T' em n t c 6 The test process of moment inertia 3 PI K P K I h = 5 = h = 5 K P = K I 3K I P n ψ f J = h + 1 h T T = ( ) T C z = Z K P + K I s Δc n = K P + K I T PI E z e n + K IT - K P e n - 1 Δu n = K' P e n - e n K' I e n 8 K' I K' P K' I = K I T } K' P = K P - K IT 3. PI J h + 1 J h + 1 K I = K 3h T p = 7 P n ψ f h T P n ψ F D M p T OSC G D M p T OSC f 7 h T P n ψ f 6 J PI TI TMS3F88 PI 3 1 s = 1 - z - 1 T 1 + z PI 7 8 PI W cli s = s + 1 PI PI W ASR s = K P + K I s G so s = 3K 1 + K 8 P s IP n ψ f K I J s PI PI s + 1 II 9 1 n n + 1 M r D M p P n + 1 = F D M p T OSC P n I n + 1 = G D M p T OSC I n T OSC 9 1

4 Table 1 Estimative formula E 1 = e dt E = e dt E 3 = e tdt e = ω * - ω ω * ω PI PI a E Table Result of E during different speed response PI 4 b P I 4 c P I 4 d PI E PI PI 11 1 K Pn + 1 = F E K Pn K In + 1 = G E K In PI E E E E E E PI 3 PI E PI n = + K P = 3 K I = n = K P = K I = Table 3 3 E Rate of change of E during different speed response % Fig. 4 4 PI The tendency of speed response when PI parameters were vernier tuning E N PI 5 E 5 PI Fig. 5 Diagram of PI optimal process E

5 1 33 E = e dt E 6 6 b 6 a 6 b 6 a E PI 6 c PI 6 a 6 c Magtrol 6 a 6 c E 1% 1 1r /min 4r /min Fig. 6 6 E Calculation of E during step speed response 4 DSP DSP TI TMS3LF88 IPM. 1ms 1ms 75W AC - 3V 3 r /min. 39 N m 5 r /min 6. 7e - 5 Kg m PI 7 PI PI 8 1N m / 1 r /min / 6r /min 9 9 a 9 b PI 9 c 9 d 3 r /min PI PI

6 34 14 Fig. 9 9 Experimental result of speed response 1 LIU Zhen JIANG Xuezhi LI Donghai. Overview of the tuning Fig. 1 Speed ripple during load torque changed methods of the PID controller parameters J. Automation of Electric Power Systems drives J PI PI J E PI PID. J WANG Wei ZHANG Jingtao CHAI Tianyou. A survey of advanced PID parameter tuning methods J. Acta Automatica Sinica OUBRAHIM B LEONARD F. PID Auto-tuning by a composed structure J. IEEE International Conference on Control Applications ZIEGLER J G NICHOLS N B. Optimum setting for automatic controllers J. Transactions on ASME ASTROM. K J HAGGLUND T. Automatic tuning of simple regulator with specification on phase and amplitude margins J. Automatica PID J TURSINI Marco PARASILITI Francesco ZHANG Daqing. Realtime gain tuning of pi controllers for high-performance PMSM. IEEE Transactions on Industry Applications 38. ZHANG Qiao SHEN Anwen. Simple algorithm for speed controller gains online tuning of AC servo system J. Micromotors 8. PID M. 5.

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