用于直驱式机电作动器的PMSM自抗扰控制研究

Active Disturbance Rejection Control for the PMSM Used in the Direct Drive EMA

基于永磁同步电机(PMSM)的直驱式机电作动器,要求电机位置控制精度高、鲁棒性强,且具有极高的抗负载冲击能力。针对以上需求,设计了实用的PMSM自抗扰控制器。首先,采用线性控制率实现误差反馈控制,并应用扩张状态观测器(ESO)估计交、直轴电流交叉耦合及电量参数摄动所引起的扰动以进行前馈补偿,实现id=0的矢量控制及交轴电流随动控制;然后,应用跟踪微分器安排位置响应的过渡过程,用ESO估计出系统状态及负载和摩擦转矩引入的总扰动,分别用于实现非线性状态反馈控制及扰动补偿,完成以交轴电流为内环的位置伺服控制。仿真及实验结果表明,PMSM自抗扰控制系统精度高,响应快速无超调,刚度大,算法本身计算量小,且易于工程实现,具备可行性。

The direct drive Electro-Mechanical Actuator（EMA）,which uses the Permanent Magnetic Synchronous Motor（PMSM） as the driver,requires that the motor position control system must be precise,robust,and have outstanding load disturbance rejection ability.To meet these requirements,practical controllers based on Active Disturbance Rejection Control（ADRC） were presented.First,to implement the vector control of id = 0 and follow-up control of q-axis current respectively,linear error feedback control strategies were adopted and disturbances,which were introduced by cross coupling of d-axis and q-axis current and perturbation of electrical parameters,were estimated by the Expanded State Observer（ESO） and then compensated.Second,for the position control system,tracking differentiator was employed to arrange the transition process of the position response,and then states and total disturbance of load and friction torque were estimated by ESO.Eventually,states feedback control strategy and disturbance feed-forward compensation were implemented to complete the angle position control which embraces the inner q-axis current control system.Simulations and experiments verified that the feasible ADRC-based PMSM servo system was fast,precise,of no overshoot,strongly robust to load disturbance and easy to implement.