Adaptive Fuzzy PI Controller Tuning Method For Speed Tracking of Permanent Magnet Synchronous Motor Servo System

2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI:10.1109/ICCA.2019.8899663

Hu Li, Bao Song, Xiaoqi Tang, Tianhang Chen, Yuanlong Xie, Jian Jin

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Abstract

The satisfactory speed tracking performance of a permanent magnet synchronous motor (PMSM) is hard to achieve due to the unknown disturbances, time-varying parameters, and actuator saturation. In this paper, an adaptive fuzzy PI controller with robust updating rules is proposed to improve the dynamic response of the PMSM servo system and reduce the impacts of disturbances. This controller can regulate conventional PI controller gains online with a fuzzy tuner. The scaling factors of the fuzzy tuner are online optimized by a fuzzy regulator when initial information of the dynamic non-linear system isn’t enough for designing fixed parameters fuzzy tuner in advance. Meanwhile, the robust updating rules are designed to ensure the stability and robustness of the optimization process. Through real-time PMSM speed control experiments, it is found that the proposed adaptive fuzzy PI controller is effective, and the speed-tracking and anti-disturbance performance can be improved comparing to a conventional PI controller.

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永磁同步电机伺服系统速度跟踪的自适应模糊PI控制器整定方法

由于未知扰动、参数时变和驱动器饱和等因素的存在，永磁同步电机的速度跟踪性能难以达到理想的水平。为了改善永磁同步电机伺服系统的动态响应，减小干扰的影响，提出了一种具有鲁棒更新规则的模糊自适应PI控制器。该控制器可以通过模糊调谐器在线调节传统PI控制器的增益。当动态非线性系统的初始信息不足以进行定参数模糊调谐器的预先设计时，利用模糊调节器对模糊调谐器的比例因子进行在线优化。同时，设计了鲁棒更新规则，保证了优化过程的稳定性和鲁棒性。通过对永磁同步电机转速的实时控制实验，发现所提出的自适应模糊PI控制器是有效的，与传统的PI控制器相比，其速度跟踪和抗干扰性能都得到了提高。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2019 IEEE 15th International Conference on Control and Automation (ICCA)

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