基于降阶自抗扰的永磁同步电机位置控制

Permanent Magnet Synchronous Motor Position Control Based on Reduced-Order Active Disturbance Rejection

为了实现永磁同步电机高精度位置控制,提出了一种基于降阶扩张状态观测器和线性反馈控制律的线性自抗扰三环位置控制策略。首先,建立永磁同步电机在d-q坐标系下的数学模型;其次,结合实际应用背景,针对系统中存在的建模误差和未建模干扰改写位置环状态表达式;再次,根据修改后状态空间表达式设计降阶状态观测器并证明其收敛性且给出收敛条件;最后,结合降阶扩张状态观测器设计复合控制律,证明其稳定性。通过搭建定位实验平台进行传统三环定位控制、线性自抗扰位置控制和降阶线性自抗扰位置控制的对比验证,仿真和实验结果验证了所提方法的有效性和优越性。

In order to achieve high-precision position control of permanent magnet synchronous motors,a linear active disturbance rejection(ADRC)three-loop position control strategy based on reduced-order extended state observer and linear feedback control law is proposed.First,the theoretical model of the permanent magnet synchronous motor was established in the d-q coordinate system.Second,combined with the actual application background,the position loop state expression is rewritten according to the modeling error and unmodeled interference existing in the system.Then,according to the modified state space expression,a reduced-order state observer(RESO)is designed and its convergence is proved to give a convergence condition;Finally,the composite control law is designed with a reduced order extended state observer and its stability is proved.A positioning experiment platform was built to perform comparative verification of traditional three-loop positioning control,full-order linear ADRC position control and reduced-order linear ADRC position control.Simulation and experimental results verify the effectiveness and superiority of the proposed method.