永磁同步电机伺服系统的自抗扰控制技术研究
发布时间：2019-01-14 09:18
【摘要】：目前,在中小功率高精度伺服驱动领域,永磁同步电机(Permanent Magnet Synchronous Motor,PMSM)因其结构简单、功率密度大、效率高、运行平稳等优点,已经成为主流之选。但是在实际应用中,尤其在直接驱动或环境恶劣的应用场合,许多不确定的内外扰动将会恶化系统性能。因此,随着人们对交流伺服系统的要求越来越高,能够快速有效地抑制各种未知扰动就显得尤为关键。本文基于一台表贴式永磁同步电机,针对自抗扰控制(Active Disturbance Rejection Control,ADRC)技术在PMSM伺服系统中的应用及实现进行了相关研究。自抗扰控制器是为了克服经典PID控制器的固有缺陷,综合PID和现代控制理论的优点而提出的一种新型的非线性控制器,由跟踪微分器(Tracking Differentiator,TD)、非线性反馈律(Nonlinear State Error Feedback,NLSEF)和扩张状态观测器(Extended State Observer,ESO)三部分构成。它从反馈控制和扰动估计补偿两个角度分别进行改进,从根本上提高了系统的抗扰动能力与动静态性能,并且具有很强的鲁棒性与通用性。本文首先研究自抗扰控制技术在PMSM伺服系统转速环中的应用,设计了转速环一阶自抗扰控制器。通过理论、仿真和实验,分析验证了采用非光滑反馈(Non-smooth Feedback,NSF)结合ESO前馈补偿的自抗扰控制技术后,系统具有更好的转速跟踪性能和抗扰性能。针对自抗扰控制器中由于估计惯量存在误差从而恶化系统性能这一问题,改进了基于扰动观测器(Disturbance Observer,DOB)的惯量辨识算法,通过惯量辨识及补偿技术使得自抗扰控制器在转动惯量未知或变化的应用场合中能够获得更好的控制效果。其次,设计了位置环一阶自抗扰控制器,从而采用位置环和转速环两个自抗扰控制器级联的形式,构建了完整的PMSM位置伺服系统。位置环同样采用NSF+ESO的自抗扰控制,系统可以获得更好的位置跟踪性能和抗扰性能。与传统控制方式相比,采用自抗扰控制后系统获得了更快的响应速度,更高的控制精度和更强的抗扰性能。
[Abstract]:At present, PMSM (permanent Magnet synchronous Motor (Permanent Magnet Synchronous Motor,PMSM) has become the mainstream choice for its simple structure, high power density, high efficiency and smooth operation in the field of medium and small power high-precision servo drive. However, in practical applications, especially in direct driving or harsh environments, many uncertain internal and external disturbances will deteriorate the performance of the system. Therefore, with the increasing demand for AC servo system, it is very important to suppress all kinds of unknown disturbances quickly and effectively. Based on a permanent magnet synchronous motor (PMSM), the application and implementation of ADRC (Active Disturbance Rejection Control,ADRC in PMSM servo system are studied in this paper. In order to overcome the inherent defects of the classical PID controller, the ADRC is a new nonlinear controller based on the advantages of PID and modern control theory, which is composed of a tracking differentiator (Tracking Differentiator,TD) and a nonlinear feedback law (Nonlinear State Error Feedback,). NLSEF) and extended state observer (Extended State Observer,ESO). It improves the anti-disturbance ability and the dynamic and static performance of the system from the aspects of feedback control and disturbance estimation compensation respectively. It also has strong robustness and generality. In this paper, the application of ADRC technology in the rotational speed loop of PMSM servo system is studied, and the first order ADRC controller is designed. Through theory, simulation and experiment, it is proved that the system has better speed tracking performance and disturbance rejection performance after adopting non-smooth feedback (Non-smooth Feedback,NSF) combined with ESO feedforward compensation. The inertia identification algorithm based on disturbance observer (Disturbance Observer,DOB) is improved to solve the problem of deterioration of system performance due to the error of estimating inertia in ADRC. By means of inertia identification and compensation technology, the ADRC can obtain better control effect in applications where the moment of inertia is unknown or changing. Secondly, the first order active disturbance rejection controller of position loop is designed, and the complete PMSM position servo system is constructed by adopting the cascade form of position loop and rotational speed loop. The position loop also adopts the NSF ESO active disturbance rejection control, so the system can obtain better position tracking performance and disturbance rejection performance. Compared with the traditional control method, the system has faster response speed, higher control precision and stronger immunity performance after using ADRC.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TM341
本文编号：2408555
[Abstract]:At present, PMSM (permanent Magnet synchronous Motor (Permanent Magnet Synchronous Motor,PMSM) has become the mainstream choice for its simple structure, high power density, high efficiency and smooth operation in the field of medium and small power high-precision servo drive. However, in practical applications, especially in direct driving or harsh environments, many uncertain internal and external disturbances will deteriorate the performance of the system. Therefore, with the increasing demand for AC servo system, it is very important to suppress all kinds of unknown disturbances quickly and effectively. Based on a permanent magnet synchronous motor (PMSM), the application and implementation of ADRC (Active Disturbance Rejection Control,ADRC in PMSM servo system are studied in this paper. In order to overcome the inherent defects of the classical PID controller, the ADRC is a new nonlinear controller based on the advantages of PID and modern control theory, which is composed of a tracking differentiator (Tracking Differentiator,TD) and a nonlinear feedback law (Nonlinear State Error Feedback,). NLSEF) and extended state observer (Extended State Observer,ESO). It improves the anti-disturbance ability and the dynamic and static performance of the system from the aspects of feedback control and disturbance estimation compensation respectively. It also has strong robustness and generality. In this paper, the application of ADRC technology in the rotational speed loop of PMSM servo system is studied, and the first order ADRC controller is designed. Through theory, simulation and experiment, it is proved that the system has better speed tracking performance and disturbance rejection performance after adopting non-smooth feedback (Non-smooth Feedback,NSF) combined with ESO feedforward compensation. The inertia identification algorithm based on disturbance observer (Disturbance Observer,DOB) is improved to solve the problem of deterioration of system performance due to the error of estimating inertia in ADRC. By means of inertia identification and compensation technology, the ADRC can obtain better control effect in applications where the moment of inertia is unknown or changing. Secondly, the first order active disturbance rejection controller of position loop is designed, and the complete PMSM position servo system is constructed by adopting the cascade form of position loop and rotational speed loop. The position loop also adopts the NSF ESO active disturbance rejection control, so the system can obtain better position tracking performance and disturbance rejection performance. Compared with the traditional control method, the system has faster response speed, higher control precision and stronger immunity performance after using ADRC.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TM341
【参考文献】
相关期刊论文 前1条
1 苏玉鑫,段宝岩,张永芳,南仁东,彭勃;大射电望远镜馈源指向系统轨迹跟踪自抗扰控制[J];控制理论与应用;2004年06期
，本文编号：2408555
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