基于扰动补偿的PMSM转速环自抗扰控制器设计

Design of Active Disturbance Rejection Controller for PMSM Speed Loop Based on Disturbance Compensation

永磁同步电机(PMSM)运行过程中负载转矩以及转动惯量的变化对转速有较大的影响,结合自抗扰控制器(ADRC),通过对负载转矩和转动惯量辨识得到部分扰动的方法,设计了基于扰动补偿的永磁同步电机调速系统。利用辨识算法先辨识出负载转矩和转动惯量,然后利用辨识得到的信息表示出部分扰动项并补偿到自抗扰控制器扰动估计输出项中,使扩张状态观测器(ESO)只需观测出除负载转矩和转动惯量的扰动量,减小ESO观测扰动量,增加扰动量观测的精度,从而提高了转速环抗扰性能。最后通过仿真和实验验证了该算法的有效性。

In the process of permanent magnet synchronous motor（PMSM） operation, the load torque and the change of the moment of inertia have a great influence on the speed. Combining the active disturbance rejection controller （ADRC） with the method of identifying the load torque and the moment of inertia, the partial disturbance was obtained. The PMSM speed regulation system based on disturbance compensation was designed. Using the identification algorithm to identify the load torque and moment of inertia, and the information which collected was used to identify some of the disturbance items and compensation to the active disturbance rejection controller disturbance estimation output, so that the extended state ob- server （ESO） only should estimate the residual disturbance . The amount of disturbance observed by ESO was reduced, and the accuracy of the disturbance estimation was increased, thus the disturbance rejection performance of speed loop was im- proved. The effectiveness of the algorithm is verified by simulation and experiment.