Research On Permanent Magnet Synchronous Motor Speed Control System Based On Active Disturbance Rejection Control

Permanent magnet synchronous motor(PMSM)is a representative of today’s energy-saving motors because of its high power density,small size,and energy saving.China has abundant rare earth resources,and China is also focusing on supporting the development of PMSM.With the development and application of control theory,PMSM is widely used in CNC machine tools,electric vehicles,military and aviation.At the same time,the requirements for control systems are getting higher and higher.It is difficult to establish an accurate model of PMSM because of its nonlinearity,strong coupling,time-varying parameters,etc.As a power unit,the three-phase SVPWM inverter is also a nonlinear time-varying system.The combination of the both makes it more difficult to establish an accurate model,and PMSM is easy to receive the influence of parameter changes and external disturbances during the operation.Active disturbance rejection control(ADRC)has the advantages of strong robustness,wide application range of parameters and good dynamic performance.It is especially suitable for occasions where system modeling is inaccurate,inertia is large and disturbance is high.Therefore,this paper studies the system control scheme of PMSM based on auto disturbance rejection control.Firstly,the mathematical model of PMSM in three-phase and two-phase coordinate system is established,which lays a foundation for the realization of vector control.Then,the basic principles of ADRC are studied in depth,and the design methods of ADRC mathematical models and controllers are demonstrated.Taking a three-phase SVPWM inverter as an example,ADRC is used for the design of the output voltage controller.In the simulation,the control performance of ADRC and classical PID is compared and analyzed,which shows the superiority of ADRC in dynamic and static characteristics.The electromagnetic environment of the PMSM is complicated and the high-frequency switching harmonics exist in the output voltage of the threephase SVPWM inverter,which causes the feedback channel to be contaminated and causes the system to run out of control.Aiming at this problem,the structure of the ADRC is improved.An ADRC control strategy based on feedback tracking differentiator is proposed.The controller design and parameter tuning method are also shown,and the superiority of I-ADRC in resisting high frequency disturbance is verified by simulation.Finally,I-ADRC is used to design the speed controller of PMSM’s vector control system,and the overall structure of the system and the design method of the controller are written.Comparing I-ADRC with PID and ADRC,respectively,by simulation,the results show that I-ADRC and ADRC are better than PID in dynamic tracking and resisting load disturbance.And when the feedback channel is contaminated by high frequency interference,I-ADRC has better anti-interference ability than ADRC.On the CCS software platform,the PI and I-ADRC program algorithms are implemented,and the related experiments are completed on the hardware platform.The experimental results show that the PMSM speed control system based on I-ADRC designed in this paper has good dynamic and static characteristics and anti-interference.