针对时变输入的永磁同步电机改进型自抗扰控制器

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摘要在永磁同步电机（PMSM）调速系统中,提出了对时变输入具有更高跟踪精度的改进型模型补偿自抗扰控制（MMC-ADRC）策略。传统的自抗扰控制中,扩张状态观测器（ESO）的观测扰动项较大,通过模型补偿可以大幅减小观测扰动项,提高跟踪精度。然而当输入时变时,由于常规的模型补偿自抗扰控制（MC-ADRC）存在建模误差,系统对输入的跟踪误差仍然较大。尽管可通过增大控制器增益来减小跟踪误差,但这同时会使系统中噪声被放大,降低系统性能。在MC-ADRC基础上引入输入微分前馈（IDF）得到的MMC-ADRC,可从理论上消除建模误差,在相同增益下获得更高的跟踪精度。仿真和实验结果证明了所提方法的有效性。

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关键词 ：永磁同步电机, 自抗扰控制, 时变输入, 输入微分前馈, 模型补偿

Abstract：A modified model compensation active disturbance rejection controller (MMC-ADRC) is proposed, which has better tracking performance for speed-regulation system of permanent magnetic synchronous motor (PMSM) with time-varying input. Model compensation is used to decrease the observed disturbance of extended state observer (ESO) so as to improve the observation accuracy. When the input is time varying, the tracking performance of the system is poor according to the modelling errors in conventional ADRC. The tracking errors can be reduced by enlarging controller gain, but the control performance is deteriorated because of amplified noises. Adding input derivative feed forward (IDF) will realize better tracking performance, which can eliminate the modelling errors theoretically. Extensive comparative simulation and experiment tests are performed. The results show the improved performance of the proposed algorithm.

Key words： Permanent magnetic synchronous motor active disturbance rejection control time-varying input input derivative feedforward model compensation

收稿日期: 2015-01-08 出版日期: 2017-02-08

PACS:

TM351

基金资助:国家自然科学基金（51377076）,江苏省“六大人才高峰”项目（YPC13013）和江苏省产学研资金项目（BY2014003-09）资助

作者简介: 左月飞男 1989年生,博士研究生,研究方向为永磁同步电机伺服系统控制。E-mail: zuo@nuaa.edu.cn（通信作者）：张捷男 1990年生,硕士研究生,研究方向为永磁同步电机伺服系统控制。E-mail: zhangjie1990@nuaa.edu.cn

引用本文:

左月飞, 张捷, 刘闯, 张涛. 针对时变输入的永磁同步电机改进型自抗扰控制器[J]. 电工技术学报, 2017, 32(2): 161-170. Zuo Yuefei, Zhang Jie, Liu Chuang, Zhang Tao. A Modified Adaptive Disturbance Rejection Controller for Permanent Magnetic Synchronous Motor Speed-Regulation System with Time-Varying Input. Transactions of China Electrotechnical Society, 2017, 32(2): 161-170.

链接本文:

https://dgjsxb.ces-transaction.com/CN/Y2017/V32/I2/161

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