隨著國家重大專向“高檔數控機床與基礎制造技術”的實施，對永磁交流伺服系統的性能提出了愈來愈高的要求。本文首先通過對典型應用案例的分析，揭示了交流伺服系統對應用系統性能的影響，指出提高交流伺服系統性能的必要性。
永磁交流伺服系統參數的正確整定對系統的性能影響極大，設計者和用戶均難以實現這一目標。因此，如何實現參數的自整定是這一領域的研究熱點問題。由于在多數應用系統中慣量會經常發生變化，且慣量變化對系統的動態性能影響很大，本文提出了一種轉動慣量在線辨識方法，能夠實現慣量變化的自動辨識。在此基礎上，針對交流伺服控制器PI 參數自整定方法中，忽略了整定過程的周期性和所需的自學習能力，造成整定過程效率低、重復操作次數多、整定時間長問題,依據迭代學習控制，提出了一種交流伺服系統速度控制器PI 參數自整定控制方案，使控制器能夠進行仿人操作，根據歷史控制經驗不斷地改進學習增益。仿真和實驗結果均驗證了上述方法的有效性，且這些方法結構簡單，易于實現，已在已研發的產業化項目中得到具體應用。
用于伺服系統的永磁同步電機，一般具有較小的轉動慣量，這有可能使得電機的機械時間常數要小于電磁時間常數。面對這樣的機電時間常數的關系，電流環在動態過程中不能抑制速度環的擾動，電流的動態響應明顯變差。對此本文加入一個反電動勢補償環節，以此來消除轉速在動態過程中對電流環的影響。理論分析并結合仿真研究，
對比有無補償環節的性能，提高了動態響應，仿真結果驗證了補償措施的有效性。
在永磁交流伺服系統中，電流環位于最內環，其環寬對整個系統（速度環/位置環）的環寬具有制約作用。因此，在不提高功率器件開關速度的前提下如何提高電流內環的寬度也是該領域的研究熱點。本文深入分析了傳統PWM 方式限制電流環寬度的原因，提出了新的改進型PWM 方式，在不提高開關頻率的情況下，使電流環的帶寬得到了顯著
提高，從而擴大了永磁交流伺服系統的頻帶，提高了動態響應，實驗結果均驗證了該方法的有效性。
Abstract: With national significant expertise to the "high-quality CNC machine and basic manufacturing technology",
more and more demands are made for performance of the permanent magnet AC servo system. In this paper, through the analysis of typical applications, reveals the ac servo system influence on the performance of the system and the necessity to improve servo system performance.Permanent magnet AC servo system parameters in correct setting have a great impact on system performance. It is difficult to achieve this goal for designers and users. Therefore, how to achieve parameters self-tuning is of hot issues of this research field. In most applications inertia often changes. And the changes of inertia have a great influence on the system dynamic performance. A novel on-line identification method of inertia is put forward, and it can achieve automatic
identification of inertia changes. At present, most methods of self-tuning of PI controller for AC Servo drive cause various
problems, such as low efficiency, more iterative manipulation and more setting time, due to ignoring the periodic property
and the necessary self-study ability of setting process. This paper presents a novel self-tuning of PI speed controller for AC
servo drive based on iterative learning control. The proposed scheme make the controller improve learning gain according to
historical experiences like human being. The feasibility and validity of the proposed scheme has been verified with simulation and experimental result and the arithmetic is concise and apt to realize. PMSM used in servo system, generally has relatively small inertia, which could make the electrical mechanical time constant less than electromagnetic time constant. Face with such relationship between mechanical and electrical time constant, the current loop in a dynamic process can not curb the disturbance of speed loop, and dynamic response of current maybe bad. In this paper, add a link of speed compensation in order to eliminate the impact of speed on the current loop in dynamic process. Theoretical analysis and combine with the simulation studying, contrast the performance with and without the compensation link, simulation results show the effectiveness of compensation measures.
In permanent magnet AC servo system, the current loop located in the inner ring. The bandwidth of the entire system is restricted by current loop bandwidth. Therefore, how to expand the bandwidth of the current inner loop under not raising power device switching speed condition has been a hot research topic. Based on the analysis of current loop bandwidth restricted conditions using traditional PWM style, an improved version of PWM mode is proposed. Current loop bandwidth has been significantly improved without raising switching frequency. Thus increase the permanent magnet AC servo system bandwidth and improve the dynamic response. Experimental results verify the effect of the method.
關鍵詞：交流伺服系統；轉動慣量在線辨識；參數自整定；迭代學習控制；動態響應
Keywords: AC servo system; inertia on-line identification; self-tuning; iterative learning control; dynamic response