永磁同步电梯门机改进型自抗扰控制策略

Improved active disturbance rejection control strategy for PMSM elevator door

针对永磁同步门机转动惯量大范围变化导致控制器参数设计困难这一问题,提出改进型线性自抗扰控制(LADRC)策略.设计转速自抗扰控制器,对转动惯量和负载变化引起的扰动进行实时观测和补偿,达到改善转速控制性能并避免控制器参数标定过程的目的;设计并联型LESO,能够在线性扩张状态观测器(LESO)带宽取值受限的条件下提高扰动观测性能并保留线性自抗扰控制器参数设计简单的优点.仿真和工程验证均表明:所提出的改进型自抗扰门机控制系统在简化控制器参数标定过程的同时获得更优良的控制性能,且对不同型号门机系统具有广泛适用性,采用该控制器可降低应用成本,提高行业竞争力.

The wide-range change of inertia on the motor shaft in permanent magnet synchronous motor(PMSM)elevator door system results in difficulties in PI controller parameters design.This paper presents an improved linear active disturbance rejection control(LADRC)strategy for PMSM to solve this problem.ADRC was designed to observe and compensate the disturbance caused by rotational inertia and changing load,to improve the control performance,and to avoid the real-time parameter calibration process of controller.The parallel linear extended state observers(LESO)were proposed to improve LADRC’s tracking precision and anti-disturbance ability under the condition of limited bandwidth value,while maintain the simple parameter tuning characteristic at the same time.Both simulation and engineering verification showed that the proposed improved automatic disturbance rejection control system achieved better control performance and simplified the calibration process of the controller parameters.The system also has wide applicability to different types of door machine systems.The improved control system can reduce application cost and improve its industrial competitiveness.