摘要
自抗扰控制器(Active Disturbance Rejection Controller,ADRC)是在继承经典PID不依赖于对象模型优点的基础上,并改进PID控制器固有的缺陷而形成的新型控制器。将线性自抗扰控制技术应用于永磁同步电机(Permanent Magnet Synchronous Motors,PMSM)的伺服控制系统,并通过Matlab/Simulink进行仿真试验。通过仿真研究发现,线性自抗扰控制器的结构简单,且对永磁同步电机的控制效果明显,对于突加负载、粘性阻尼等不同因素均具有良好的控制效果,体现了超强的鲁棒特性,性能明显优于扩张卡尔曼滤波器;此外,控制器需要整定的参数只有一个,解决了传统自抗扰控制器参数整定复杂的问题。
The active disturbance rejection controller(ADRC) is a new controller which is independent of the system model and overcomes the shortcomings of the classic PID controller, and ADRC has good control performance. A permanent magnet synchronous motors(PMSM) servo simulating system using linear active disturbance rejection controllers(LADRC) is presented by Matlab/Simulink. The simulation results show that LADRC has a simple algorithm and good control capacity even if considering the load-mutation or viscous damping, which is better than extended Kalman filter(EKF). In addition, only one parameter needs to be tuned in the LADRC.
出处
《控制工程》
CSCD
北大核心
2016年第S1期51-55,共5页
Control Engineering of China
