【摘要】 针对矢量控制下永磁同步电机齿槽转矩引起转速谐波的机理复杂，及当前齿槽转矩抑制方法会增加控制系统复杂性等问题，推导矢量控制下齿槽转矩引起的转速谐波数学模型，提出基于PI控制器参数整定的转速谐波最小化方法。首先，通过分析矢量控制下齿槽转矩到电机转速的闭环传递机理，推导了齿槽转矩到电机转速的闭环传递函数，构建齿槽转矩引起的转速谐波数学模型。其次，以推导的数学模型建立目标函数，采用遗传算法寻优出使得齿槽转矩引起的转速谐波幅值最小的PI参数。最后，通过仿真和实验对所推导数学模型的准确性和所提转速谐波最小化方法的有效性进行验证。结果表明，基于数学模型寻优出的速度波动最小PI参数可使齿槽转矩引起的电机转速谐波幅值降低20%以上。更多还原

【Abstract】 In order to solve the problems such as complex mechanism of speed harmonics caused by cogging torque of permanent magnet synchronous motor under vector control and the complexity of control system increased by current cogging torque suppression method, an mathematical model of speed harmonic caused by cogging torque under vector control was derived and a speed harmonic minimization method based on PI controller parameter tuning was proposed. By analyzing the closed-loop transmission mechanism from cogging torque to motor speed under vector control, the closed-loop transfer function from cogging torque to motor speed was deduced, then the mathematical model between cogging torque and speed was established. Secondly, based on the derived mathematical model established the objective function, then the genetic algorithm was used to search the PI parameters that minimize the amplitude of speed harmonic caused by cogging torque. Finally, accuracy of the derived mathematical model and effectiveness of the proposed speed harmonic minimization method were verified by simulations and experiments. The results show that the PI parameters with minimum speed fluctuation optimized based on the derived mathematical model can reduce the speed harmonic amplitude caused by cogging torque by more than 20%.更多还原