基于线性自抗扰控制技术的伺服控制系统研究

Research on Servo Control System Based on Linear Active Disturbance Rejection Control Technology

自抗扰控制器是一种不依赖控制对象精准数学模型的控制器,具有超调量小、鲁棒性强等特点,但由于引入非线性函数,参数难以整定。对自抗扰控制器进行线性化处理即为线性自抗扰控制器。针对永磁同步电机(Permanent magnet synchronous motor,PMSM)伺服系统,应用线性自抗扰控制理论,设计并比较了一阶电流环、速度环、位置环LADRC控制器,仿真结果表明,采用LADRC控制器的伺服系统具有良好的动态性能和稳态性能,并具有较强的抗干扰能力,且易于整定。

Active disturbance rejection controller(ADRC)is a kind of controller which does not depend on the precise mathematical model of the control object.It has the characteristics of small overshoot and strong robustness.However,due to the introduction of nonlinear function,the parameters are difficult to be adjusted.The linearization of ADRC is called linear ADRC.Based on the theory of linear active disturbance rejection control for permanent magnet synchronous motor servo system,the current loop,speed loop and the position loop LADRC controller are designed and compared.The simulation results show that the servo system with LADRC controller has good dynamic performance and steady-state performance,strong anti-interference ability and easy tuning.