PMSM Servo Control Strategy Based On ADRC And Fractional Order PD Control

Permanent magnet synchronous motor(PMSM) includes a permanent magnet rotor andthree-phase stator windings. It is reliable, easy to control, low loss, so it has been widelyused in AC servo system. The factors such as the uncertainty of the motor model, the strongcoupling, changing parameters during operation, load disturbances, limit the permanentmagnet synchronous motor achieving high performance in AC servo system. Based on thisbackground, to achieve higher control performance in permanent magnet synchronousmotor servo control system, this paper combines the fractional order controller, the activedisturbance rejection control(ADRC) technology and vector control technology to providean efficient control strategy.At first, this paper introduces the basic principle of vector control and the permanentmagnet synchronous motor mathematical model in the dq rotating coordinate system. Atthe same time, this paper introduces SVPWM modulation techniques used in vector controland proposes a rapid implementation method for SVPWM. Then, the paper introduces theprinciple of active disturbance rejection control technology and the linear turning method.For the linear active disturbance rejection control overdependence the linear extended stateobserver(LESO), this paper analyzes this problem and proposes using fractional orderPDμcontroller in place of integer order PD controller. Analyzing the principle and dynamicperformance, the paper makes use of the extended state observer in the speed controlsystem to observer disturbance and makes the fractional orderPD μcontroller as thefeedback controller; in the position control system, take the fractional orderPDμcontroller as the feedback controller. The performance of fractional orderPD μcontrolleris less dependent on the observational precision of the extended state observer than thelinear active disturbance rejection control. The extended state observer can make the systemuncertainty maintained in the insensitive region of the fractional orderPD μcontroller toachieve high precision.Based on the theoretical study, the proposed control strategy is simulated to verify theeffectiveness; then according to this control strategy, the hardware platform and thesoftware platform for experiments are built. The experimental results is also very goodconfirmed the accuracy and validity of the strategy.