基于模糊自抗扰控制器的永磁同步电动机伺服系统

PMSM Servo System Based on Fuzzy Active-Disturbance Rejection Controller

针对永磁同步电机伺服系统要求高精度、快速响应及稳态性能好等问题,该文设计了一种新型永磁同步电动机模糊自抗扰位置伺服控制系统。首先,根据自抗扰与模糊控制原理,设计了模糊自抗扰控制器;其次,通过对位置速度环控制器的改进,使得在保持原自抗扰控制器特点的同时减少了可调参数,改善了系统控制性能,并在此基础上,对交轴输出方程进行分析,提出了一种新的位置环模糊自抗扰控制方案,在保证系统动态性能的同时,提高了抗负载扰动的能力;最后,通过仿真和实验验证,改进后的系统具有响应速度快、无超调、控制精度高的特点,对负载及系统内部参数变化具有很强的鲁棒性。

A novel fuzzy active-disturbance rejection position controller of permanent magnet syn chronous motor （PMSM） servo system is presented in this paper, which aims to satisfy the features of PMSM servo system such as high accuracy, fast response, and better steady-state performance. First, fuzzy active-disturbance rejection controller is designed based on fuzzy control theory. Besides, through the improvement of position speed loop controller, the original features of controller are maintained and the adjustable parameters are reduced, which improves the system control performance. On this basis, q-axis output equation is analyzed and a new position fuzzy active-disturbance rejection controller （F-ADRC） scheme is proposed. It can not only ensure the dynamic performance of system but also improve the ability of the anti-disturbance. At last,simulation and experimental results show that the improved system has the characteristics of fast response, no overshoot and high control accuracy, and has strong robustness to load and inner parameter changes.