中文摘要：

由于永磁同步电机（PMSM）的前馈解耦采用双闭环的控制器,其全系统的传递函数已高于二阶,导致了控制器参数整定困难。通过分析PMSM以及其解耦控制的速度环和电流环的数学模型,提出了双闭环控制器中被控制量与PMSM数学模型之间的联系,构造出了基于拉氏变换的全系统简化模型,为双闭环控制器的PI参数整定提供了理论依据。针对已构建的全系统传递函数模型的高阶特性,提出了根据劳斯稳定判据来整定PI参数的方法,并在Simulink中进行了实验仿真。仿真结果表明,整定后的参数能够使系统快速趋于稳定,并且具有较好的鲁棒性。

英文摘要：

As the feedforward decoupling of permanent magnet synchronous motor （ PMSM） adopts double closed - loop con-troller, its system - wide transfer function is higher than that of second order, which leads to the difficulty of controller parame-ter setting. By analyzing the mathematical model of velocity loop and current loop of PMSM and its decoupling control, the re-lationship between the control quantity and the mathematical model of PMSM in double closed - loop controller is obtained, and the whole system based on Laplace transform is constructed, which provides a theoretical basis for the PI parameter setting of double closed - loop controller. Aiming at the high - order characteristic of the constructed system - wide transfer function model, the range of PI parameters is set according to Rouse stability criterion, and the experimental simulation is carried out in Simulink. The simulation results show that the parameters after setting can make the system become stable quickly and have good robustness.