摘要：为抑制干扰力矩对永磁同步电机（PMSM）伺服系统性能的影响，提出采用自抗扰控制器（ADRC）以提高伺服系统的性能。首先，采用id=0的矢量控制策略建立了永磁同步电机伺服系统模型；然后，分析干扰力矩对伺服系统性能的影响，并在Matlab中仿真分析速度环分别采用PI、ADRC控制器伺服系统的性能；最后，对PMSM伺服系统的速度采用ADRC控制算法进行实验验证。实验结果表明：采用ADRC算法能够有效抑制系统中干扰力矩的影响，提高PMSM伺服系统的稳态精度。

关键词：自抗扰控制；永磁同步电机；矢量控制
Abstract: To inhibit the influence of disturbing torque on the Permanent Magnet Synchronous Motor (PMSM) servo system, an Active Disturbance Rejection Control (ADRC) algorithm for the steady state performance was proposed. Firstly, the mathematic model for the PMSM servo system was built by using an oriented control strategy in shaft current id=0. Then the effects of the disturbing torques on the performance of servo system were analyzed. Simulation and analysis for the PMSM servo system which used PI and ADRC as the speed loop respectively were done. Finally, the hardware experiment of ADRC was carried out. Simulations and experiment show that the servo system using ADRC can inhibit the influence of disturbing torque and improve the steady state performance.

Key words: ADRC；PMSM；vector contrel