永磁同步电机伺服系统的变增益自抗扰控制器设计

Design of Variable Gain Active Disturbance Rejection Controller for PMSM Servo System

针对传统的线性自抗扰控制技术中存在的初始峰值问题,设计了一种变增益自抗扰控制器,并应用到永磁同步电机伺服控制方案设计中,分别对永磁同步电机的转速环和电流环设计转速和电流控制器。采用变增益自抗扰控制器的永磁同步电机伺服控制方案,削弱了传统方法系统初始峰值问题以及抗负载扰动能力得到较大的改善,提高了系统的动态性能。仿真和实验结果表明,变增益自抗扰控制器解决了传统方法的峰值问题,且与传统的PID控制器比较,系统在负载转矩变化时响应速度快、超调小、控制精度高,具备较强的鲁棒性。

Aiming at the problem of initial peak in traditional linear ADRC control technology,a variable gain ADRC controller was designed and applied to the permanent magnet synchronous motor servo system.The speed and current controller were designed for the speed loop and current loop of the permanent magnet synchronous motor.The servo control scheme of the permanent magnet synchronous motor using the variable gain ADRC reduced the initial peak of the traditional system and greatly improved the anti-load disturbance ability,which improved the dynamic performance of the system.The simulation and experimental results show that the variable gain ADRC solves the peak problem of the traditional method,and compared with the traditional PID controller,the system has fast response speed,small overshoot,high control precision and strong robustness when the load torque changes.