基于PMSM伺服系统的数学模型及其性能分析.pdf

基于 PMSM 伺服系统的数学模型及其性能分析
陈先锋,舒志兵,赵英凯
(南京工业大学自动化学院,南京 210009)

摘要:在数控机床中,以交流永磁同步伺服电动机(PMSM)为驱动元件的伺服系统是数控装置与机床之
间的中间连接环节。文中讨论PMSM 及其驱动器的数学模型,根据控制原理分析了系统的稳定性和稳态性能,
并且对系统的调节器 PID 参数进行整定,最后通过对实测波形与仿真波形的比较表明该模型及其参数的正
确性。研究结果为数控加工系统提供了理论基础。
关键词:PMSM; 数学模型; 稳定性; 稳态性能
中图分类号:TM921 文献标识码:A
Mathematic Model and Performance Analysis of PMSM
Based Servo System
CHEN Xian-feng, SHU Zhi-bing, ZHAO Ying-kai
(College of Automation, Nan Jing University of Technology, Nan Jing 210009 China )

Abstract: In the numerical control machine tools, servo system drived by PMSM is the middle-connect segment
between numerical control setting and machine tools. In the paper, the mathematic model of PMSM and its driver
was discussed. Also the stability and steady-state behavior of the system were analyzed based on the control theory.
Latter we have adjusted the PID-parameters of the system. parison of waves between actual measurement
and simulation has indicated that the model and its parameters are correct. The research result has provided an
theoretic basis of numerical control machining.
Key words: PMSM; Mathematic Model; Stability; Steady-State Behavior


交流伺服系统广泛的应用于各种精密的机械加工设备,尤其在数控系统中得到了普遍应
用。系统的伺服驱动装置主要是由伺服电机和驱动器组成。伺服系统的性能是决定整个数控
系统加工精度和生产率的主要因素。采用 PMSM 作为驱动元件的交流伺服系统具有精度高,
运行稳定等特点,控制比较简单,容易实现高性能的缘故,成本相对低,所以基于 PMSM
的交流伺服系统应用更为广泛。当系统运动速度较低时,其位置输出的动态误差