Active Disturbance Rejection Control Of Permanent Magnet Synchronous Motors

Permanent magnet synchronous motors(PMSM)have attracted extensive attention due to the high torque inertia ratio,high energy density,high efficiency and high reliability,etc.And they have been widely used in aerospace,shipping industry,CNC machine tools and textile manufacturing applications.In recent years,with the rapid development of new energy vehicles,mobile robots and other industry applications,it has brought a new boom for the research of permanent magnet synchronous motors.Therefore,it is significantly meaningful to study the high-performance control strategy of permanent magnet synchronous motors.The main content of this thesis is the research on active disturbance rejection control(ADRC)strategy in the speed and position control of permanent magnet synchronous motors.Firstly,this thesis introduces the background and significance of this research,the characteristics of permanent magnet synchronous motors,and summarizes the research status of the active disturbance rejection control strategy.Then the mathematical model of permanent magnet synchronous motors in the stationary ABC coordinate system,stationary ?? coordinate system and synchronous rotating dq coordinate system are derived.Then,the principle and implementation method of space vector pulse width modulation(SVPWM)are introduced in detail.Secondly,the advantages and disadvantages of the traditional PI controllers are analyzed.In order to enhance the dynamic performance and anti-disturbance ability of the motor drive system,the active disturbance rejection control technology is applied to the design of the current-loop,speed-loop and position-loop controllers respectively.The effect of the parameter mismatch of the moment inertia on the performance of the extended state observer(ESO)is analyzed.Aiming at solving the problems of the low bandwidth and poor dynamic performance in permanent magnet synchronous motor sensorless drives,the speed-loop sensorless controller based on the extended state observer is designed to realize the real-time observation and compensation for the load torque.Aiming at the demand of high precision and fast positioning servo system,a finite time attracting law control strategy combined with the extended state observer is proposed.The feasibility of the proposed method is verified through constructing a simulation model of permanent magnet synchronous motor drives in the Matlab/Simulink.Finally,a permanent magnet synchronous motor driver based on digital control chip DSP28335 is designed.And the space vector pulse width modulation,three-loop active disturbance rejection controllers,etc.,are implemented using C language programs.And the control strategy experiments proposed in the paper verify that the three-loop active disturbance rejection controllers achieve the advantages of the strong anti-disturbance ability and fast dynamic response compared with traditional PI controllers.