基于参数变化估计的PMSM自抗扰内模控制

ADRC and Internal Model Controller of PMSM Based on Parameters Variation Estimation

基于d-q坐标系下的永磁同步电动机数学模型及矢量控制的基本原理,针对永磁同步电动机的非线性和参数的不确定性,对于电流环设计了基于参数变化估计的内模控制器,克服传统的内模控制对电机参数敏感的问题,速度控制器采用了自抗扰控制器,提高了系统对外部负载扰动抑制能力。仿真结果表明,所提出的基于参数变化估计的永磁同步电动机自抗扰内模控制器在电动机参数变化和负载扰动情况下均能提供良好的控制效果,验证了所设计控制方法的有效性。

As permanent magnet synchronous motor （PMSM） is a nonlinear object and the parameters are uncertainty, based on the mathematical model of PMSM in the synchronous d-q coordinates and the vector control principle, internal model controller with parameters variation observer was designed for the current control of the system, so the controller could overcome the issues that conventional internal model controller is sensitive to the motor parameters variations： besides active disturbance rejection controller （ADRC） is designed for the speed control of the driver, so the system is robust to the load torque variations. The simulation results show that the proposed speed and current controller based on ADRC and internal model controller with parameters variation observer can provide good performance both under motor parameters and load torque variations, then the effectiveness of the proposed method is proved.