Research On Disturbances Suppression Strategy For Parameters And Sudden Load Changes Of Permanent Magnet Synchronous Motor

Permanent magnet synchronous motor(PMSM)are widely used in modern industry,such as CNC machine tools,robots,and new energy vehicles,because it has high efficiency and high-power density.This paper is based on the theory of vector control and adaptive control of permanent magnet synchronous motors.During the operation of permanent magnet synchronous motors,the problems of the motor speed oscillation caused by changes in parameters such as inductance and resistance and sudden load torque were studied.A sub-channel disturbance suppression strategy is proposed,and a backstepping adaptive controller based on the extended state disturbance observer is designed to achieve high-performance speed control of the permanent magnet synchronous motor.First,a mathematical model of a permanent magnet synchronous motor with lumped disturbance is established,and a backstepping adaptive controller based on the basic model of the motor is introduced in detail.Theoretical analysis and simulation experiments show that the designed controller not only improves the negative transient response of the system to a certain extent,but also effectively eliminates the negative impact of sudden load torque on the speed.However,when the parameters such as the inductance and resistance of the motor change with time,the controller’s estimated values of these disturbances have a certain phase lag and amplitude difference compared to their true values.Then,in order to solve the problem of the backstepping adaptive controller when suppressing time-varying parameter disturbances,this paper takes the permanent magnet synchronous motor model with lumped disturbances as the research object,classifies the disturbances according to the different channels,and proposes a method of actively suppressing disturbances,based on which a backstepping adaptive controller based on extended state disturbance observer is constructed,and the design process of observer parameters is introduced in detail.Secondly,the theory proves that the speed response of the backstepping adaptive controller speed control system based on the extended state disturbance observe r is globally asymptotically stable,and the aggregate disturbance of the two channels is globally uniformly bounded and stable.Finally,an experimental platform for the speed control system of the permanent magnet synchronous motor is set up.The backstepping adaptive controller based on the extended state disturbance observer is designed and experimentally verified in this paper.The experimental results prove that the design based on the thought of sub-channel disturbance suppression is designed can effectively suppress the impact of changes in parameters,such as load torque and resistance inductance on the speed of the permanent magnet synchronous motor,and the speed regulation system shows good robust performance.