直接驱动系统中力矩扰动的抑制

Rejection of torque disturbance in Direct Drive System

针对直接驱动系统中转速容易受各种力矩扰动的影响,建立了电流、速度双闭环仿真系统,设计了速度环的自抗扰控制器.并加入了LuGre摩擦力矩、负载扰动力矩和电机波动力矩.仿真结果显示,自抗扰控制器比传统的PI算法有更好的扰动抑制能力.在有突加扰动力矩的情况下,转速恢复到设定值的时间仅为PI算法的5%;在速度过零点时,也能很好的补偿摩擦力矩的作用.对不同形式的速度信号,ADRC都显示了更好的动静态特性.

In order to solve the influence of various torque disturbances in direct drive systems,a simulation including speed and current closed-loops was built,and an active disturbance rejection controller（ADRC） in speed loop was designed.LuGre friction model,load torque disturbance and fluctuation were combined.Simulations show that ADRC has better disturbance rejection than traditional PI algorithms.In the case of an accidental disturbance,the recovery time of ADRC is only 5% of PI.The friction torque was mostly compensated for by ADRC,even when the speed got through zero.For different forms of speed signals,ADRC shows better static and dynamic characteristics.