永磁同步电机伺服系统自抗扰控制器设计

对永磁同步电机(PMSM)调速系统中的时变输入提出具有更高跟踪精确度的改进型自抗扰控制策略.传统的自抗扰控制主要针对阶跃信号进行快速和无静差追踪,对时变信号存在较大的跟踪误差,使自抗扰控制的应用受限.文中对稳态误差的存在原因进行了理论分析,进而设计带有微分前馈和并联线性扩张状态观测器(P-LESO)的改进型转速自抗扰控...

Active disturbance rejection controller design for PMSM servo system

In the Permanent Magnet Synchronous Motor(PMSM) speed control system, an improved active disturbance rejection control strategy with higher tracking accuracy for time-varying input is proposed. The traditional active disturbance rejection controller is mainly used for fast and static-free tracking of step signals, but there is a large tracking error for time-varying signals, which limits the application of active disturbance rejection controller. In this paper, the theoretical analysis of the existence of steady-state error is carried out, and then an improved speed Active Disturbance Rejection Controller(ADRC) with derivative feedforward and Parallel Linear Extended State Observer(P-LESO) is designed to reduce the tracking error of the system. In order to observe and compensate the reverse electromotive force in real time and reduce the current following error, a current loop linear active disturbance rejection controller is designed. By constructing Simulink simulation model for verification, the control system not only improves the tracking accuracy of PMSM for time-varying input, but also has a good dynamic performance for step input.