摘要:针对永磁同步电机存在的非线性、强耦合、不确定性等问题,把自抗扰控制(ADRC)方法引入永磁同步电机(PMSM)位置伺服系统中。原串级结构不变,转速位置环改进为两个一阶自抗扰控制器级联,ADRC解决了系统响应速度和超调之间的矛盾,提高了系统鲁棒性及控制精度;控制器级联较好地解决了PMSM非线性系统的不确定性、耦合性及干扰抑制问题。仿真结果表明,与经典PID控制的伺服系统相比,该系统具有响应速度快、无超调、控制精度高的特点,对负载及系统内部参数变化具有良好的动态性能及很强的鲁棒性。
关键词:永磁同步电机;位置伺服系统;串级控制;自抗扰控制器 Abstract: The cascaded active disturbance rejection control (ADRC) was introduced to position servo system control of permanent magnet synchronous motor (PMSM) in this paper, which aimed to satisfy the features of PMSM such as nonlinear, close coupled, and uncertainty performance. Without the cascaded structural change, through the improvement for two cascade first-order ADRC of position speed loop controller, which not only solved the contradiction between respond speediness and overshoot,and improved the system robustness and control precision but also addressed the problems of PMSM uncertainty nonlinear, coupling and disturbance rejection by cascaded controllers. Comparing with the PID controller, the simulation results show that the system has the characteristics of fast response, no overshoot and high control accuracy, and has good dynamic performance and strong robustness to load and inner parameter changes.
Key words: PMSM; position serve system; cascade control; ADRC |