基于自抗扰的永磁直驱伺服电机扰动抑制技术研究

Research on Disturbance Suppression Technology of Permanent Magnet Direct-Drive Servo Motor Based on Auto-Disturbance Rejection

针对永磁直驱伺服电机系统控制设计了转速环ADRC。ESO可以实时观测系统扰动并在控制量中进行实时补偿,使得系统在负载变化时具有较强的适应能力,提高了系统的动态性能。针对PI调节器中电流环d,q轴耦合无法实现对电流指令准确追踪的问题,进一步设计了电流环ADRC,可以对转速环的输出电流指令进行快速准确的追踪,使得系统响应时间缩短,在负载突变后具有更快的反应速度,从而提升系统扰动抑制能力。实验结果表明,自抗扰控制策略可以有效地抑制转矩扰动的影响,提升永磁直驱伺服电机系统控制性能。

The speed loop ADRC was designed for the permanent magnet direct-drive servo motor system control.ESO could observe the system disturbance in real time and compensate in real time in the control quantity,which made the system have strong adaptability when the load changed,and improved the dynamic performance of the system.The current loop ADRC was further designed for the problem that the d,q axis coupling of the current loop in the PI regulator could not accurately track the current command,the output current command of the speed loop could be tracked quickly and accurately,so that the system response time could be shortened,and the response speed could be faster after the sudden change of load,so as to improve the system disturbance suppression capability.The experimental results show that the self-disturbance rejection control strategy can effectively suppress the influence of torque disturbance and improve the control performance of permanent magnet-direct drive servo motor system.