永磁同步电机的事件触发位置跟踪控制

Event-triggered Position Tracking Control for Permanent Magnet Synchronous Motor

针对永磁同步电机控制系统中存在的抗扰性能差和计算资源浪费问题,提出一种基于事件触发自抗扰的位置跟踪控制方法。该方法采用位置-电流双环结构,利用转子角位置信息设计位置环控制器,通过构建事件触发机制设计事件触发扩张状态观测器,估计外部扰动和内部不确定性。该观测器在保证扰动估计效果的同时,降低实时更新的计算负担。使用Lyapunov稳定性理论证明控制系统输入状态稳定,并证明系统不存在Zeno行为。仿真结果表明,改进的位置跟踪控制方法具有节约计算资源、无超调的特点,能提高负载转矩突变时的动态响应性能。

Aimed at the problems of poor anti-disturbance performance and waste of computing resources in a permanent magnet synchronous motor(PMSM)control system,a position tracking control method based on event-triggered active disturbance rejection control(ADRC)is proposed.A position-current double closed-loop structure is adopted,and a position-loop controller is designed with the rotor angle position information.Trough constructing the event-triggered mechanism,an event-triggered extended state observer(ESO)is designed,which can estimate the external disturbance and internal uncertainties.By means of the proposed observer,the computational burden which is updated in real time can be reduced while maintaining the estimation performance.Then,the input state of the control system is proved to be stable via the Lyapunov stability theory,and there is no Zeno behavior in the system.At last,simulation results show that the improved position tracking control method has characteristics of saving computing resources and no overshoot,which improves the dynamic response performance under load torque disturbance.