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标题：AGV调速系统参数辩识与PI自整定研究 |
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作者：张好明，王应海 |
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| 2013年第5期 访问次数：272次 |
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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。
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
Abstract: Controller of traditional AGV system hasn′t the function of selfadjusting, 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 developed on the basic of mechanical equation and discrete model reference adaptive control theory of permanent magnet synchronous motor; PI parameter online selfadjusting was done through software. Fulldigital AC speed control results based on ADSP2188 prove PI selfadjusting can eliminate speed overshooting, decrease response time effectively.
Key words: automated guided vehicle; permanent magnet synchronous motor; inertia; parameter identification; PI selfadjusting
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