永磁同步电动机矢量控制系统速度控制器的设计

A novel speed regulator of PMSM vector control system based on active-disturbance rejection controller

利用自抗扰控制器理论,提出一种永磁同步电动机矢量控制系统速度控制器的设计方法.该控制器利用一个非线性的跟踪-微分器为给定电动机转速信号提供一个过渡过程,有效地解决了矢量控制系统的响应速度和超调之间的矛盾,提高了系统的响应速度,抑制了系统超调;利用一个扩展状态观测器把转动惯量、负载等参数产生的扰动量观测出来,并加以补偿校正,提高了系统的稳定性;利用非线性的状态误差反馈控制律,实现了"大误差小增益,小误差大增益"的控制,改善了低速性能.实验和仿真结果表明,在从0r/min到1 500r/min的调速范围内,系统都具有很好的动态和静态性能,且具有很强的鲁棒性.

A highly robust active-disturbance rejection controller （ADRC） is developed to imple- ment high-precision motion control of permanent magnet synchronous motors （PMSM）. In the proposed system, the speed regulator consists of a tracking differentiator （TD）, an extended state observer （ESO）, and a nonlinear state error feedback control law （NLSEF）. The TD over- comes the contradiction between the respond speediness and overshoot smallness, the ESO pro- vides the estimate of the unmeasured system＇s state and the real action of the known disturbances such as load disturbance only based on a measurement output of the servo system, and the NLSEF is used to synthesize the nonlinear control action. Simulation and experiment results show that the proposed speed regulator achieves a better speed response and is robust to parame- ter variation and load disturbance from 0r/min to 1 500r/min.