永磁直线电机ADRC控制研究

发布时间：2018-09-12 21:21

【摘要】：ADRC(Active disturbance rejection control)自抗扰技术的核心思想在于将影响被控对象动态性能的外部作用全部归结为“扰动”并加以估计和补偿,通过非线性误差反馈控制律NLSEF实现“自抗扰”控制,打破“内模原理”和“绝对不变原理”。本文深入研究了ADRC自抗扰技术,并将ADRC自抗扰技术引入永磁同步直线电机控制系统,仿真和实验结果表明:ADRC用于永磁同步直线电机速度环可实现无超调快速控制,但用于电流环则存在非线性误差反馈控制律NLSEF状态方程中的fal函数曲线不光滑以及反馈通道上存在野值和噪音的干扰等问题。故提出了一种改进ADRC自抗扰算法,并进行了实验验证。具体内容如下:1、分析ADRC自抗扰算法工作原理,搭建了基于ADRC的永磁同步直线电机控制速度系统,利用跟踪微分器TD安排过度时间;利用状态观测器ESO估计系统输入-输出各阶状态和系统未知“扰动”;利用非线性误差反馈控制律NLSEF实现非线性扰动补偿。Matlab/Simlink仿真结果表明软件的仿真结果表明:与PID控制算法相比,ADRC自抗扰算法能够实现永磁同步直线电机快速无超调调速。2、提出了一种改进ADRC自抗扰算法。在反馈通道加入带有预报补偿因子的跟踪微分器TD2剔除偏离真实值的野值,从含噪信号中提取有效控制量;用比例微分器PD替代替代非线性误差反馈控制律NLSEF,解决因fal函数曲线不光滑造成的净控制量曲线颤抖;将前馈通道跟踪微分器TD1输出与反馈通道跟踪微分器TD2输出直接比较,实现总“扰动”的精确估计。利用Matlab/Simlink仿真工具对改进ADRC自抗扰算法进行理论验证。3、搭建了以DSP为科学的基于ADRC自抗扰算法的永磁同步直线电机调速控制系统,实现了软件和硬件设计,控制实验结果证实了所述理论的可行性。
[Abstract]:The core idea of ADRC (Active disturbance rejection control) active disturbance rejection technique is to reduce the external action that affects the dynamic performance of the plant under control to "disturbance", estimate and compensate it, and realize "active disturbance rejection" control by nonlinear error feedback control law (NLSEF). Break the Internal Model principle and the absolute Invariant principle. In this paper, the active disturbance rejection technology of ADRC is deeply studied, and the ADRC active disturbance rejection technique is introduced into the control system of permanent magnet synchronous linear motor. The simulation and experimental results show that the speed loop of permanent magnet synchronous linear motor can be controlled without overshoot by using ADRC. However, the fal function curve in the nonlinear error feedback control law NLSEF equation of state is not smooth and there are outliers and noise disturbances in the feedback channel. Therefore, an improved ADRC active disturbance rejection algorithm is proposed and verified by experiments. The main contents are as follows: 1. The working principle of ADRC active disturbance rejection algorithm is analyzed, and the speed control system of permanent magnet synchronous linear motor based on ADRC is built. The tracking differentiator TD is used to arrange the transition time. The state observer (ESO) is used to estimate the input-output states of the system and the unknown "disturbance" of the system. The simulation results of nonlinear disturbance compensation by using nonlinear error feedback control law (NLSEF). A modified ADRC active disturbance rejection algorithm is proposed. The tracking differentiator TD2 with predictive compensation factor is added to the feedback channel to eliminate the outliers that deviate from the true value, and the effective control quantity is extracted from the noisy signal. The proportional differentiator (PD) is used to replace the nonlinear error feedback control law (NLSEF,) to solve the shivering of the net control curve caused by the non-smooth fal function curve, and the feedforward channel tracking differentiator TD1 output is compared directly with the feedback channel tracking differentiator TD2 output. An accurate estimate of the total "disturbance" is achieved. Using the Matlab/Simlink simulation tool to verify the theory of the improved ADRC algorithm, a new permanent magnet synchronous linear motor speed control system based on DSP is set up, and the software and hardware design are realized. The control experiment results confirm the feasibility of the theory.
【学位授予单位】：浙江理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273

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