基于改进自抗扰控制的永磁同步电机位置控制策略

Position Control Strategy of Permanent Magnet Synchronous Motor Based on Improved Active Disturbance Rejection Control

提出了一种变结构的线性自抗扰控制(LADRC)策略,以提高永磁同步电机双闭环(位置速度一体环、电流环)位置控制系统的抗扰动能力。首先,利用位置/速度曲线规划,将位置信号和速度信号联系到一起,从而替代跟踪微分器环节。然后,根据分数阶理论,改进LADRC中的PD控制策略,进一步提高系统鲁棒性。最后,引入级联线性扩展状态观测器,对系统扰动进行二次观测,提高对外部扰动的抑制能力。实验结果表明,相比于常规LADRC,在外部突加相同负载的情况下,位置误差波动减小了约80%,带载时q轴电流波动减小了约60%。所提控制策略能够提高系统的稳定性和抗扰动能力。

The linear active disturbance rejection control(LADRC) with variable structure is presented in this paper to improve the anti-disturbance ability of the dual closed-loop(position-speed integrated loop and current loop) position control system of the permanent magnet synchronous motor.Firstly,the position/speed curve planning is used to link the position signal with the speed signal,thus replacing the tracking differentiator link.Then,according to the fractional order theory,the PD control strategy in LADRC is improved to further improve the robustness of the system.Finally,a cascade linear extended state observer is introduced to observe the system disturbances twice,which improves the ability of the system to suppress external disturbances.The experimental results show that compared with the conventional LADRC,the position tracking error fluctuation is reduced by about 80% and the q-axis current fluctuation with load is reduced by about 60% when the same external load is applied suddenly.The presented strategy can improve the stability and anti-disturbance ability of the system.