永磁同步电机电流的无差拍自抗扰控制

Deadbeat Adaptive Disturbance Rejection Controller for the Current Control of Permanent Magnetic Synchronous Motor Drive System

在永磁同步电机(PMSM)调速系统中,电流环作为内环对伺服系统起着决定性作用。针对传统无差拍电流预测控制(C-DPCC)参数鲁棒性较差的问题,提出基于自抗扰控制的无差拍电流预测控制(DPCC-ADRC)。首先分析传统无差拍电流预测控制的参数敏感性,其次提出利用扩张状态观测器(ESO)对电机参数变化引起的扰动进行观测与实时补偿,同时对电流和扰动进行预测,并分析观测器带宽与噪声之间的关系,实现了永磁同步电机电流环的噪声抑制与快速响应能力。实验结果表明,该方法与传统无差拍电流预测控制相比具有较强的参数鲁棒性。

In the speed control system of permanent magnet synchronous motor(PMSM),the current loop,as the inner loop,plays a decisive role in the servo system. Due to the problem of poor parameter robustness of conventional deadbeat predictive current control(C-DPCC),a deadbeat predictive current control based on active disturbance rejection control(DPCC-ADRC)was proposed. Firstly,the parameter sensitivity of the conventional deadbeat predictive current control was analyzed. Secondly,an extended state observer(ESO)was proposed to observe and compensate the disturbance caused by motor parameter mismatch,predict the current and disturbance,and analyze the relationship between observer bandwidth and noise. The noise suppression and fast response ability of current loop were realized.The experimental results show that it has strong parameter robustness compared with the conventional deadbeat predictive current control.