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标题：基于自抗扰控制器的PMSM伺服控制系统研究 |
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作者：肖泽民，朱景伟，夏野，等 |
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| 2018年第3期 访问次数：222次 |
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摘要：将自抗扰控制器(ADRC)应用在交流永磁同步电机（PMSM）伺服控制系统中，针对永磁同步电机伺服系统的高精度、快速响应等要求，对伺服控制系统三个闭环分别设计自抗扰控制器。在电流环设计一阶自抗扰控制器来取代常用的PID控制器，将位置环、速度环整合为一个统一的闭环并设计二阶自抗扰控制器进行控制；针对不同环节的控制要求和目的，采用不同的函数组合形式设计相应的控制器，充分利用自抗扰控制器的优良控制特性来满足高精度伺服控制系统的要求。通过搭建Simulink仿真模型进行验证，该伺服控制系统具有跟踪速度快、无超调、控制精度高、对负载及参数变化鲁棒性强等特点。
关键词：自抗扰控制器；永磁同步电机；伺服控制系统
Abstract: The Active Disturbance Rejection Controller (ADRC) was applied to the AC Permanent Magnet Synchronous Motor(PMSM) servo control system，aiming at the servo control system requirements such as high precision，fast response，the active disturbance rejection controller was designed respectively for three closed-loop systems of servo control system. In the current loop design, a first-order ADRC controller was adopted to replace the commonly used PID controller，the position loop and speed loop were integrated into a unified closed loop and controlled by a second-order ADRC controller；According to the control requirements of different aspects of the function and purpose, using different combinations to design controllers, made full use of the excellent control characteristics of ADRC to meet the requirements of high precision servo control system . Verified by the Simulink simulation model，results show that the servo control system has the advantages of fast tracking speed, no overshoot, high control precision, strong robustness to load and parameter variation.
Key words: ADRC；PMSM；servo control system
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