基于扰动补偿的永磁同步电机自抗扰内模控制

Active disturbance rejection and internal model control of permanent magnet synchronous motor based on disturbance compensation

针对传统永磁同步电机PI控制存在的鲁棒性差问题,提出考虑参数摄动的永磁同步电机自抗扰内模控制方法.控制系统转速外环采用自抗扰控制器对外部负载扰动进行补偿,实现对给定转速的跟踪控制.电流内环设计考虑参数摄动的内模控制器,通过自适应观测器对电机参数摄动量进行实时估计和在线调整,增强电流预测控制的鲁棒性.实验对比传统PI控制与新型控制方法,其结果验证了新型控制方法在抗外部负载扰动和内部参数摄动方面的有效性和实用性.

In view of the poor robustness of traditional PI control of permanent magnet synchronous motor(PMSM),an active disturbance rejection(ADRC)and internal model control of PMSM considering parameter perturbation is proposed.The ADRC is used to compensate the disturbance of the external load in the outer loop of the control system,and the tracking control of the given speed is realized.An internal model controller with parameter perturbations is designed in the inner loop of the current,and an adaptive observer is used to estimate and adjust the parameters of the motor in real-time and to improve the robustness of the predictive control.Experiments were conducted to compare the traditional PI control with the new control method,and the results proved the effectiveness and practicability of the new control method in resisting the external load disturbance and the internal parameter perturbation.