永磁同步电机伺服系统控制中的自抗扰控制策略

Auto Disturbance Rejection Control Strategy in Servo System Controlling with Permanent Magnet Synchronous Motor

本文以高精度伺服系统中的永磁同步电机变速扫描为研究对象,针对自抗扰控制器中跟踪微分器(trace differentiator,TD)及扩张状态观测器(expansion state observer,ESO)模块的延时响应和参数复杂等缺点,设计了一种改进的自抗扰控制器,有效简化了其TD和ESO模块并减少可调参数,以实现内外干扰较大的环境下电机的高精度快速响应。将该控制器应用到某型号项目的伺服摆扫镜机构中,并将其性能与同条件下传统比例-积分-微分(proportion-integration-differential,PID)控制器性能作对比。实验结果表明:改进的自抗扰控制器表现出优于PID的控制性能,0°/s^10°/s响应时间75 ms,超调小于6%,稳态精度达到±1%;变速跟踪过程转速波动小,无超调,扫描周期时间波动小于0.0014 s,起始位置角度定位精度高于0.0015°,满足型号项目指标要求。改进的自抗扰控制器对其他搭载永磁同步电机实现变速跟踪扫描的系统也有一定的参考价值。

In this study,based on the variable speed scanning of the permanent magnet synchronous motor(PMSM)in the high precision servo system,we designed an improved auto disturbance rejection controller(ADRC).The aim of our design is to address the disadvantages of the complex parameters and the delay response of the trace differentiator(TD)and expansion state observer(ESO)module.The improvement simplified the TD and ESO module,and the adjustable parameters were minimized.This helps the motor to adapt to an environment with large internal and external interferences,and to achieve high precision and a rapid response.The improved ADRC was then employed in the servo pendulum scanning mechanism of an actual project,and its performance was compared to a traditional PID controller under similar conditions.The results confirm that the improved ADRC performs much better than the PID as follows:the 0°/s-10°/s response time is 75ms,the overshoot is less than 6%,while the steady-state accuracy is within±1%.Further,the speed fluctuation of the variable speed tracking process is small without overshoot,the scanning cycle time fluctuation is less than 0.0041 s,and the starting angle positioning accuracy is better than 0.0015°.The improved ADRC corresponded with the actual project index requirements and has certain reference value for other systems with PMSM to achieve variable speed tracking scanning.