Research On Speed Regulation Of Permanent Magnet Synchronous Motor Based On Auto\Active Disturbance Rejection Control

Because of its small size, high efficiency, reliability and adaptability to the environment and so on, permanent magnet synchronous motor (PMSM) is widely used in industrial production and other fields. PMSM is a multivariable, nonlinear, strong coupling and time-varying controlled object, so to solve the nonlinearity and uncertainty is the key of PMSM control. In this thesis, auto\active disturbances rejection controller (ADRC) is used, which inherits the essence of "eliminate error based on error" in the classic control, is a new kind of control method which does not depend on the accurate mathematical model of controlled object. ADRC can solve the problems of the system's nonlinearity and uncertainty; the system based on ADRC has good anti-disturbances capability, which ensures the control accuracy of the system, and has good dynamic and static performance and robustness.Firstly, the paper makes the simple brief of the development of the AC servo system and AC motor control strategy, and introduces the research of the paper. And then it calculates the mathematical model of PMSM in the d-q axis coordinate system, and introduces the vector control strategy of PMSM and the decoupling control by id=0 based on the mathematical model of PMSM. And then it introduces the development of ADRC and the structure and principles of the components of ADRC which is consist of tracking differentiator (TD), extended state observer (ESO), nonlinear state error feedback control law (NLSEF) and disturbance compensation (DC). It devises the ADRC and the proportional controller based on ESO in the speed regulation system of PMSM, and the speed observer by the capability of ESO which estimates the system's disturbance. Using the software of MATLAB\simulink it simulates the control systems, and simulation results are compared with the vector control system. The effect of the speed regulation system based on ADRC is better than the effect of the vector control; when the system's load changes, the system based on ADRC has good anti-disturdances capability both in low speed or high speed; the system with the speed observer has a good ability for tracking speed, and load disturbance has little effect to the speed observer. The results show:the ESO plays the role of observing the system disturbance in the ADRC, and the part of DC reduces the effect of disturbance to the system; the speed regulation system based on ADRC has a good anti-disturdances ability to load disturbance, good dynamic and static performance and good robustness.