基于自抗扰控制的永磁同步电机位置伺服系统一体化设计

Integrated Design for Permanent Magnet Synchronous Motor Servo Systems Based on Active Disturbance Rejection Control

为解决位置环采用常规二阶自抗扰控制(ADRC)的永磁同步电机伺服系统中速度不可控的问题,提出一种位置、速度控制器一体化设计方法。首先,分析了常规二阶ADRC位置控制的设计方法以及存在的问题;其次,借鉴滑模控制的一体化设计思想,综合设计系统的外环控制器,采用偏差反馈的算法对转速进行限幅,实现了四段式位置伺服控制,从而解决了常规二阶ADRC中速度不可控的问题。所提方法在最高转速进行限幅的基础上,能够实现电机的最速位置定位,而且对不同的位置给定和不同的转速限幅条件均适用。仿真和实验结果验证了其有效性与可行性。

In order to solve the velocity control problem in the conventional second-order active disturbance rejection control（ ADRC） for permanent magnet synchronous motor（ PMSM） servo systems,a novel integrated design for position and speed loops is proposed. Firstly,the approach and problems of the conventional secondorder ADRC are analyzed. Secondly,the velocity control is realized by using the novel integrated controller,which uses the idea of integrated design of the sliding mode control to realize the four-stage position control. The proposed method limits the highest speed through speed deviation feedback,and implements the fastest position orientation of the motor. The method is valid for various positions and speed limitations. The effectiveness of the proposed method is verified by both simulation and experimental results.