基于改进自抗扰的永磁同步电机位置伺服系统

Permanent Magnet Synchronous Motor Position Servo System Based on Improved Active Disturbance Rejection Control

为了提高系统对未知扰动和参数变化的鲁棒性,将自抗扰控制(ADRC)策略引入到永磁同步电机(PMSM)位置伺服系统中,并对ADRC策略进行改进,使系统满足高性能伺服控制要求。通过对ADRC中扩张状态观测器(ESO)结构的改进,提高观测器对扰动的观测速度。同时,针对ADRC中使用的转动惯量与实际惯量间存在误差,会影响速度ADRC控制器中控制增益的选取,采用在线惯量辨识方法,实时调节控制器参数。综合以上2点改进措施,分别设计转速环、位置环改进ADRC控制器,从根本上提高系统的动态性能和抗扰动能力。最后,通过仿真验证改进ADRC策略在PMSM位置伺服系统中的有效性。

In order to improve the system′s robustness to unknown disturbances and parameter changes,the active disturbance rejection control(ADRC)strategy is introduced into the permanent magnet synchronous motor(PMSM)position servo system,and the ADRC strategy is improved to make the system meet the requirements of high servo control performance.By improving the structure of the extended state observer(ESO)in ADRC,the observation speed of observer is increased.At the same time,in view of the error between the actual moment of inertia and the inertia used in ADRC,which affects the selection of the control gain in the speed ADRC controller,an online inertia identification method is adopted to adjust the controller parameter in real time.Based on the above two improvement measures,the improved ADRC controllers for the speed and position loops are designed,fundamentally improving the dynamic performance and anti-disturbance capability of the system.Finally,the effectiveness of the improved ADRC strategy in the PMSM position servo system is verified by simulation.