永磁同步电机的多目标互补控制

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关键词：永磁同步电机;模型辨识；鲁棒控制； H∞ 控制；模型不确定性；多目标互补控制DOI：10.15938/j. emc.2025.06.014中图分类号：TM341 文献标志码：A 文章编号：1007-449X（2025）06-0134-07

Multi-objective complementary control of permanent magnet synchronous motors

ZHANG Guilin， XU Shuliang， LIU Haotian （College of ElectricalEngineeingandAutomation，ShandongUniversityofScienceandTechnology，Qingdao6659o，China）

Abstract：To address the challenges of high-performance tracking control for permanent magnet synchronous motor under model uncertainty，external disturbances，and measurement noise，along with the limitations of a single control structure，a robust control method was proposed that combines tracking and disturbance rejection capabilities.Initially，the system’s nominal model and multiplicative uncertainty model were established using the sinusoidal frequency-sweeping identification method. A PI controller was designed to achieve high tracking performance，while an H∞ controller was developed to mitigate the effects of model uncertainties and enhance system robustness. Subsequently，integrating the PI and H∞ controllers within a multi-objective complementary control structure，a robust controller was formulated，effectively resolving the conflict between system robustness and optimal performance.Finally，experimental results demonstrate that the multi-objective complementary control method reduced the adjustment time under no-load conditions to 83.8% of that achieved with the H∞ controller，and when subjected to a 2 N·m load，the speed drop was 48.7% of that observed with the PI controller，effectively integrating the disturbance rejection capability of the H∞ controller with the tracking performance of the PI controller.

Keywords： permanent magnet synchronous motor; model identification； robust control; ΔH∞ control ; model uncertainty；multi-objective complementary control

0引言

永磁同步电机（permanent magnet synchronousmotor，PMSM）凭借紧凑的结构以及高效率、高功率密度、高可靠性等优点，在家庭应用、工业自动化、医疗器械和高科技领域都得到了广泛关注与应用，同时也推动了PMSM控制理论的快速发展[1]。（剩余10507字）