摘要
针对在传统PI控制策略下永磁同步电机伺服系统中存在转速易超调和抗扰能力差等问题,提出一种基于非线性自抗扰控制的双闭环永磁同步电机速度控制策略。在速度环和电流环中将传统的PI控制器替换为非线性自抗扰控制器,分别设计转速环和电流环的非线性自抗扰控制器。在转速环中,利用跟踪-微分器解决响应快速性和超调之间的矛盾;引入二阶扩张状态观测器,对扰动进行估计并补偿;通过非线性状态误差反馈控制律,提高系统的控制精度。在电流环中,通过引入自抗扰控制中最核心的扩张状态观测器,减小未知扰动对系统的影响。仿真结果表明,系统具有响应快、无超调、抗扰能力强的特点,对负载、转速变化具有较强的鲁棒性,验证了该控制策略的有效性。
Aiming at the problems of speed overshoot and disturbance rejection in PMSM servo system under traditional PI control strategy, a double closed-loop PMSM speed control strategy based on nonlinear active disturbance rejection control was proposed. The traditional PI controller is replaced by the nonlinear active disturbance rejection controller in the speed loop and current loop, and the nonlinear active disturbance rejection controller in the speed loop and current loop is designed respectively. In the rotational speed ring, the contradiction between response speed and overshoot is solved by using tracking-differentiator. The second order extended state observer is introduced to estimate and compensate the disturbance. The control precision of the system is improved by nonlinear state error feedback control law. In the current loop, the influence of unknown disturbance on the system is reduced by introducing the extended state observer, which is the core of active disturbance rejection control. Simulation results show that the system has the characteristics of fast response, no overshoot, strong anti-disturbance ability, and strong robustness to load and speed changes, which verifies the effectiveness of the control strategy.
作者
匡萃璋
汪华章
陈昊
Kuang Cuizhang;Wang Huazhang;Chen Hao(School of Electrical Engineering,Southwest Minzu University,Chengdu 610041,China)
出处
《国外电子测量技术》
北大核心
2022年第8期105-111,共7页
Foreign Electronic Measurement Technology
基金
西南民族大学中央高校基本科研业务费专项(2021101)资助。
关键词
永磁同步电机
非线性自抗扰控制器
速度控制
速度-电流双闭环
permanent magnet synchronous motor
active disturbance rejection controller
speed control
a double closed-loop control for current and speed
