基于自抗扰控制器的永磁同步电机位置伺服系统

A Novel Position Controller of Pmsm Servo System Based on Active-disturbance Rejection Controller

设计了一种新颖的基于自抗扰控制器的永磁同步电动机位置伺服系统。该系统通过跟踪-微分器为给定位置信号提供一个过渡过程,克服了系统响应速度和超调之间的矛盾,使得系统响应快且没有超调;通过扩展状态观测器将系统的负载、转动惯量和定子电阻等参数变化带来的扰动观测出来并加以补偿,提高了系统的抗干扰能力;通过非线性状态误差反馈律实现了“小误差大增益,大误差小增益”的非线性控制,提高了控制精度。仿真结果表明,该系统具有响应快、无超调、稳态精度高的特点,对负载、转动惯量和定子电阻的变化具有很强的鲁棒性。

Based on active-disturbance rejection controller （ADRC） theory, a novel position controller of permanent magnet synchronous motor （PMSM） servo system is presented in this paper. The position controller is composed of tracking differentiator（TD）, extended state observer（ESO） and nonlinear state error feedback control law（NLSEF）.The TD provides a transition process for reference position, which overcome the contradiction between respond speediness and overshoot smallness .The ESO observe the disturbance caused by PMSM parameter variations such as load, stator resistor and rotor inertia, and then compensates it to the servo system. The NLSEF implements a nonlinear control to the servo system which leads to accurate results. According to the simulation results, the servo system have advantages of speedy response, no overshoot, high accuracy and strong robustness against parameter variations and load disturbance when reference position is from 0.001rad to 11.8sin（3t） rad.