Research On Active Disturbance Rejection Control Strategy Of Permanent Magnet Toroidal Motor

Permanent magnet toroidal motor is a new type of permanent magnet alternating current motor with the structure of internal and external double stators and planetary worm drive.Its compact structure,smooth transmission,and self-deceleration function can realize large torque transmission,which has broad application prospects in the fields of vehicles,military and aerospace with high space utilization requirements.In this paper,the inductance expression of worm winding,dynamic flux equation,mathematical models of electrical parameters,design of second-order nonlinear ADRC controller and first-order linear ADRC controller are deeply studied.Based on the unique inner stator structure of permanent magnet toroidal motor and the spatial distribution of worm windings,a unique inductance model with cosine finction variation is proposed.The factors of inductance of planet wheel rotation component are integrated into the revolution component,and the effects about different parameters on inductance distribution are compared and analyzed.According to the relationship between rotation and revolution of the planet wheel in the motor,the mathematical models about the electrical parameters of the motor are established,and the dynamic flux equation,voltage equation and mechanical motion equation are deduced.According to the model,a S-function simulation module of permanent magnet toroidal motor is built under the environment of Matlab/Simulink.Based on the theory of non-linear Active Disturbance Rej ection Control(ADRC),combined with the state equation of permanent magnet toroidal motor and the principle of id*=0 vector control,two kinds of non-linear ADRC control systems,i.e.,the first-order speed loop and the current loop,the second-order position loop and the current loop,are constructed respectively.The PI system is compared with each other,and the simulation system is validated in Simulink environment,and the output speed of the motor is recorded.The simulation waveform results of electromagnetic torque and three-phase current are compared and analyzed.Based on the theory of linear ADRC and the second-order speed equation of permanent magnet toroidal motor,a linear ADRC control system is built by choosing appropriate bandwidth.Simulink simulation results show that the speed waveform tracking effect is good,and the response is fast,accurate and no overshoot.Compared with the direct control result of zero-pole expression,it fully shows the superiority of LADRC.