摘  要：永磁同步电机位置伺服系统常采用电流环、转速环和位置环的典型三闭环控制结构，但存在抗扰动能力差的特点。考虑到外部干扰对系统的影响，采用干扰观测器的方法来提高位置跟随的鲁棒性。在分析干扰观测器原理的基础上，对包含干扰观测器的位置伺服系统的整体控制结构进行了设计。按照永磁同步电机的数学模型和电机参数，对三环PID控制器的参数的计算方法进行了分析，并推导出干扰观测器的模型，最后进行了仿真分析。仿真结果表明在加入干扰观测器后，位置伺服系统的抗外界干扰能力得到了明显的提高。
关键词：位置伺服；三环控制；干扰观测器

Abstract:  The typical three-loop control system, including current loop, speed loop and position loop, is used in the PMSM position servo system, but the anti-disturbance ability is poor. In consideration of system responses to the external disturbance, the disturbance observer (DOB) was proposed to improve the robustness of position tracking. After the principle of DOB was analyzed, the whole control model of position servo system with DOB was designed. Based on the mathematical model and parameters of PMSM, the calculation method of three-loop PID controller parameters was analyzed and the model of DOB was deduced. Finally the simulation analysis was conducted. Results of the simulation validated that anti-disturbance ability of position servo system improved obviously after introducing the DOB.
Key words:  position servo; three-loop control; disturbance observer