Abstract：In the permanent magnet synchronous motor (PMSM) servo system,the M-method is usually used to calculate the speed based on the measured rotor angle.As the quantization error exists in the rotor angle,the method produces the measurement noise.As a solution,the filtered speed is taken as the feedback signal.In the conventional first order active disturbance rejection control (ADRC) system,the filter is not concerned in the controller design process,which deteriorates the system performance because of the influence of the time constant of the first order circuit.In this paper,a modified ADRC controller concerning the speed filter is proposed to improve the control performance.The filtered speed is extended as the new state.Then the unfiltered speed is observed by a third order extended observer and taken as the feedback signal.The experiment results indicate that the proposed controller has a better control performance.
左月飞, 符慧, 刘闯, 张捷, 胡烨. 考虑转速滤波的永磁同步电动机转速伺服系统改进型自抗扰控制器[J]. 电工技术学报, 2016, 31(9): 137-145.
Zuo Yuefei, Fu Hui, Liu Chuang, Zhang Jie, Hu Ye. A Modified Active Disturbance Rejection Controller Concerning Speed Filter for PMSM Speed Servo System. Transactions of China Electrotechnical Society, 2016, 31(9): 137-145.
[1] 鲁文其,胡育文,梁骄雁,等.永磁同步电机伺服系统抗扰动自适应控制[J].中国电机工程学报,2011,31(7):75-81. Lu Wenqi,Hu Yuwen,Liang Jiaoyan,et al.Anti-disturbance adaptive control for permanent magnet synchronous motor servo system[J].Proceedings of the CSEE,2011,31(7):75-81. [2] 梁骄雁,胡育文,鲁文其.永磁交流伺服系统的抗扰动自适应控制[J].电工技术学报,2011,26(10):174-80. Liang Jiaoyan,Hu Yuwen,Lu Wenqi.Anti-disturbance adaptive control of permanent magnet AC servo system[J].Transactions of China Electrotechnical Society,2011,26(10):174-180. [3] 张洪帅,王平,韩邦成.基于模糊PI模型参考自适应的高速永磁同步电机转子位置检测[J].中国电机工程学报,2014,34(12):1889-1896. Zhang Hongshuai,Wang Ping,Han Bangcheng.Rotor position measurement for high-speed permanent magnet synchronous motors based on fuzzy PI MRAS[J].Proceedings of the CSEE,2014,34(12):1889-1896. [4] 汪海波,周波,方斯琛.永磁同步电机调速系统的滑模控制[J].电工技术学报,2009,27(9):71-77. Wang Haibo,Zhou Bo,Fang Sichen.A PMSM sliding mode control system based on exponential reaching law[J].Transactions of China Electrotechnical Society,2009,27(9):71-77. [5] 张晓光,赵克,孙力,等.永磁同步电机滑模变结构调速系统动态品质控制[J].中国电机工程学报,2011,31(15):47-52. Zhang Xiaoguang,Zhao Ke,Sun Li,et al.Sliding mode control of permanent magnet synchronous motor based on a novel exponential reaching law[J].Proceedings of the CSEE,2011,31(15):47-52. [6] Ohnishi K.A new servo method in mechatronics Trans[J].Transactions on Japanese Society of Electrical Engineering,1987,107:83-86. [7] Komada S,Ishida M,Ohnishi K,et al Disturbance observer-based motion control of direct drive motors[J].IEEE Transactions on Energy Conversion,1991,6(3):553-9. [8] 刘颖,周波,方斯琛.基于改进型扰动观测器的永磁同步电机滑模控制[J].中国电机工程学报,2010,30(9):80-85. Liu Ying,Zhou Bo,Fang Sichen.Sliding mode control of PMSM based on a novel disturbance observer[J].Proceedings of the CSEE,2010,30(9):80-85. [9] 韩京清.自抗扰控制技术—估计补偿不确定因素的控制技术[M].北京:国防工业出版社,2008. [10]Li Shihua,Xia Cunjian,Zhou Xuan.Disturbance rejection control method for permanent magnet synchronous motor speed-regulation system[J].Mechatronics,2012,22(6):706-714. [11]卢达,赵光宙,曲轶龙,等.永磁同步电机无参数整定自抗扰控制器[J].电工技术学报,2013,28(3):27-34. Lu Da,Zhao Guangzhou,Qu Yilong,et al.Permanent magnetic synchronous motor control system based on no manual tuned active disturbance rejection control[J].Transactions of China Electrotechnical Society,2013,28(3):27-34. [12]Li Shihua,Liu Zhigang.Adaptive speed control for permanent-magnet synchronous motor system with variations of load inertia[J].IEEE Transactions on Industrial Electronics,2009,56(8):3050-3059. [13]王宇航,姚郁,马克茂.Fal函数滤波器的分析及应用[J].电机与控制学报,2010,14(11):88-91. Wang Yuhang,Yao Yu,Ma Kemao.Analysis and application of Fal function filter[J].Electric Machine and Control,2010,14(11):88-91. [14]宋金来,甘作新,韩京清.自抗扰控制技术滤波特性的研究[J].控制与决策,2003,18(1):110-112. Song Jinlai,Gan Zuoxin,Han Jingqing.Study of active disturbance rejection controller on filtering[J].Control and Decision,2003,18(1):110-112. [15]林飞,孙湖,郑琼林,等.用于带有量测噪声系统的改进型扩张状态观测器[J].控制理论与应用,2005,22(6):995-998. Lin Fei,Sun Hu,Zheng Qionglin,et al.Novel extended state observer for uncertain system with measurement noise[J].Control Theory and Application,2005,22(6):995-998.
2016, Vol. 31 
