永磁同步電機伺服系統(tǒng)的自抗擾控制技術研究
發(fā)布時間：2019-01-14 09:18
【摘要】：目前,在中小功率高精度伺服驅動領域,永磁同步電機(Permanent Magnet Synchronous Motor,PMSM)因其結構簡單、功率密度大、效率高、運行平穩(wěn)等優(yōu)點,已經(jīng)成為主流之選。但是在實際應用中,尤其在直接驅動或環(huán)境惡劣的應用場合,許多不確定的內外擾動將會惡化系統(tǒng)性能。因此,隨著人們對交流伺服系統(tǒng)的要求越來越高,能夠快速有效地抑制各種未知擾動就顯得尤為關鍵。本文基于一臺表貼式永磁同步電機,針對自抗擾控制(Active Disturbance Rejection Control,ADRC)技術在PMSM伺服系統(tǒng)中的應用及實現(xiàn)進行了相關研究。自抗擾控制器是為了克服經(jīng)典PID控制器的固有缺陷,綜合PID和現(xiàn)代控制理論的優(yōu)點而提出的一種新型的非線性控制器,由跟蹤微分器(Tracking Differentiator,TD)、非線性反饋律(Nonlinear State Error Feedback,NLSEF)和擴張狀態(tài)觀測器(Extended State Observer,ESO)三部分構成。它從反饋控制和擾動估計補償兩個角度分別進行改進,從根本上提高了系統(tǒng)的抗擾動能力與動靜態(tài)性能,并且具有很強的魯棒性與通用性。本文首先研究自抗擾控制技術在PMSM伺服系統(tǒng)轉速環(huán)中的應用,設計了轉速環(huán)一階自抗擾控制器。通過理論、仿真和實驗,分析驗證了采用非光滑反饋(Non-smooth Feedback,NSF)結合ESO前饋補償?shù)淖钥箶_控制技術后,系統(tǒng)具有更好的轉速跟蹤性能和抗擾性能。針對自抗擾控制器中由于估計慣量存在誤差從而惡化系統(tǒng)性能這一問題,改進了基于擾動觀測器(Disturbance Observer,DOB)的慣量辨識算法,通過慣量辨識及補償技術使得自抗擾控制器在轉動慣量未知或變化的應用場合中能夠獲得更好的控制效果。其次,設計了位置環(huán)一階自抗擾控制器,從而采用位置環(huán)和轉速環(huán)兩個自抗擾控制器級聯(lián)的形式,構建了完整的PMSM位置伺服系統(tǒng)。位置環(huán)同樣采用NSF+ESO的自抗擾控制,系統(tǒng)可以獲得更好的位置跟蹤性能和抗擾性能。與傳統(tǒng)控制方式相比,采用自抗擾控制后系統(tǒng)獲得了更快的響應速度,更高的控制精度和更強的抗擾性能。
[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.
【學位授予單位】：南京航空航天大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：TM341
本文編號：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.
【學位授予單位】：南京航空航天大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：TM341
【參考文獻】
相關期刊論文 前1條
1 蘇玉鑫,段寶巖,張永芳,南仁東,彭勃;大射電望遠鏡饋源指向系統(tǒng)軌跡跟蹤自抗擾控制[J];控制理論與應用;2004年06期
，本文編號：2408555
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