针对磁场定向控制中电流内环和转速外环比例积分(PI)控制器参数整定困难且耗时长的问题，基于Matlab/Simulink的磁场定向控制自整定（FOCA）模块搭建了永磁游标电机磁场定向控制双闭环调速系统参数自整定模型。该模块在PI控制器输出端注入正弦扰动信号，根据系统输入输出数据计算频率响应，基于频率响应自动整定PI参数，同时实现指定的目标带宽和相位裕度。最后通过仿真对比分析各个环路整定前后的控制性能，仿真结果表明使用FOCA模块能够快速自动整定PI控制器参数并且拥有良好的控制性能。

In response to the difficulty and time-consuming problem of tuning the parameters of the current inner loop and speed outer loop proportional integral (PI) controller in field oriented control, a parameter self-tuning model for a permanent magnet vernier motor magnetic field orientation control dual closed-loop speed regulation system is constructed based on the field oriented control autotuner (FOCA) module in Matlab/Simulink. This module injects a sinusoidal disturbance signal into the output of the PI controller, calculates the frequency response based on the system input and output data, automatically adjusts the PI parameters based on the frequency response, and achieves the specified target bandwidth and phase margin. Finally, the control performance of each loop before and after tuning are analyzed and compared by simulation, and the simulation results show that using the FOCA module can quickly and automatically adjust the PI controller parameters and has good control performance.

中国博士后科学基金（2018M632201）；江苏省高等学校自然科学基金（20KJA470004）