基于自抗扰控制永磁同步电机交流伺服系统研究

Research on AC Servo System of Permanent Magnet Synchronous Motor Based on Auto Disturbance Rejection Control

以一种用于电机测试设备的全闭环三轴交流伺服驱动自动定位安装台架为研究平台,针对三轴传动系统升降Z轴在工作工程中存在的干扰力矩严重影响永磁同步电机(Permanent Magnet Synchronous Motor,PMSM)伺服系统性能的问题。为了克服电机及负载在内的广义被控对象不确定性因素和非线性因素对系统性能造成的影响,提出了一种改进的基于自抗扰控制器(Auto Disturbance Rejection Controller,ADRC)的PMSM位置伺服系统。自抗扰控制将系统所有扰动量作为系统的一个状态变量,利用扩张状态观测器对扰动进行在线估计,并根据估计结果对扰动进行前馈补偿控制,从而抑制扰动对整个伺服控制系统的影响。最后,通过搭建Matlab/Simulink仿真实验平台,实验结果表明,自抗扰控制器对电机模型的不确定性和外部扰动变化具有较强的适应性和鲁棒性,控制系统具有优良的动态性能。

In a closed loop for three axis AC servo motor drive test equipment installed automatic positioning bench as the research platform,aiming at the disturbance torque transmission system of elevating Z axis exist in the work of engineering of three axis serious permanent magnet synchronous motor（ Permanent Magnet Synchronous Motor,PMSM） servo system performance problems. The influence factors and nonlinear factors of generalized controlled object in order to overcome the motor and load,the uncertainty caused by the performance of the system,improve the system anti-interference ability,put forward a kind of ADRC based on improved（ Auto Disturbance Rejection Controller,ADRC） of PMSMposition servo system. ADRC control system all the disturbance as a state variable of the system,the extended state observer to estimate the disturbance,and according to the estimation results of disturbance feedforward compensation control,thereby inhibiting the effect of disturbance on the whole servo control system. Finally,by setting up the Matlab/Simulink simulation platform,the experimental results showthat the ADRC controller of motor model uncertainty and external disturbance has strong adaptability and robustness,the control system has excellent dynamic performance.