摘要
传统AGV系统控制器不具有参数在线整定功能,难以满足高性能调速系统要求。根据速度环等效原理和经典控制理论推导出PI参数与转动惯量的数学关系;根据永磁同步电机的运动方程和离散模型参考自适应理论,建立永磁电动机转动惯量辩识模型;通过软件方式实现PI参数在线自整定。基于ADSP2188的全数字交流调速实验结果证明PI自整定可有效地消除系统的超调,减少响应时间。
Controller of traditional AGV system hasn＇t the function of self-adjusting, which can＇t satisfy with high performance speed control system need. Relation between PI parameters and inertia was developed on the basic of speed loop equivalent principle and classical control theory; Inertia identification model was de- veloped on the basic of mechanical equation and discrete model reference adaptive control theory of perma- nent magnet synchronous motor; PI parameter on-line self-adjusting was done through software. Full-digital AC speed control results based on ADSP-2188 prove PI self-adjusting can eliminate speed overshooting, de- crease response time effectively.
出处
《微电机》
北大核心
2013年第5期51-54,60,共5页
Micromotors
关键词
自动导引车
永磁同步电动机
转动惯量
参数辩识
PI自整定
automated guided vehicle
permanent magnet synchronous motor
inertia
parameter identifica- tion
PI self-adjusting
