Research On Adaptive Anti-disturbance Control Strategy Of Permanent Magnet Synchronous Motor System

Since the permanent magnet synchronous motor with a small, simple structure, small rotational inertia etc., it was widely used in industrial robots, CNC machine tools and other industrial automation equipment. At the same time, permanent magnet synchronous motor system is also a multi-variable, non-linear, strong coupling systems, motor parameter variations and load inertia and other disturbances will affect the performance of the system, for high robustness, high precision, fast response of the permanent magnet synchronous motor system can not meet the requirements. Therefore, in this paper, under the condition of inertia variation and load disturbance the adaptive disturbance rejection control strategy of permanent magnet synchronous motor system is studied.Firstly, the background and development significance of PMSM control are introduced, and the vector control principle of permanent magnet synchronous motor is studied based on the analysis of the physical structure and the mathematical model of the permanent magnet synchronous motor, the id=0 current control method is selected. By using the strategy of parameter identification and disturbance compensation, an adaptive anti disturbance permanent magnet synchronous motor control system is designed.The realization of disturbance compensation strategy need the known moment of inertia and load torque value, therefore in this paper, their methods of identification are studied. First of all, the model reference adaptive method is used to identify the moment of inertia of the permanent magnet synchronous motor. Based on the moment of inertia, a simple reduced order load torque observer is used to observe the load torque of the permanent magnet synchronous motor. The design is simple and the adjustment parameters are less.At the same time, in order to further the anti-disturbance performance of the system studied, the conventional PI speed loop control system to replace the fuzzy PI, by method of fuzzy control theory, real-time adjustment PI parameters. In theory, the fuzzy PI control compared with the traditional PI control, it has the advantages of small overshoot and strong anti-interference capacity etc. Building fuzzy PI and traditional PI simulation module, the simulation experiment is carried out.Follow by on the Matlab / Simulink platform, the simulation models of permanent magnet synchronous motor vector control system were establishedincluding building a permanent magnet synchronous motor body model, SVPWM model, coordinate transformation model, inertia identification model, the load torque observer model, fuzzy PI model. Through a series of simulation experiments, to verify the effectiveness of anti-disturbance adaptive control system.Finally, a 750 W permanent magnet synchronous motor drive prototype hardware and software were accomplished and it conducted a series of experiments. These experimental results further validation to the model reference adaptive method, reduced order parameter identification of load disturbance observer based feedforward compensation and fuzzy PI by combined, can effectively improve the robustness of the permanent magnet synchronous motor speed control, improve system control accuracy and response time.