Research On Robustness Enhancement Strategy Of Permanent Magnet Synchronous Motor Based On Active Disturbance Rejection Control

Permanent magnet synchronous motor(PMSM)is widely used in modern industry due to high efficiency and high power density.However,PMSM is a nonlinear,strong coupling and time-varying system.In order to obtain better control performance,it is necessary to suppress the disturbances in the operation process of PMSM.Active disturbance rejection control(ADRC)has good dynamic response performance and strong disturbance rejection ability.It is very important to apply it to PMSM servo control system to restrain system disturbance.However,in the control process,the tracking performance and anti-disturbance performance of ADRC are coupled.At the same time,the suppression effect of ADRC on periodic disturbances such as dead time and harmonics is limited.In view of the above problems,in this thesis,the application of ADRC in PMSM control system is studied as follows:Firstly,according to the mathematical model,by analyzing the principle of vector control and space vector pulse width modulation(SVPWM),combined with ADRC algorithm,the standard state equation of PMSM with total disturbance is derived,and the ADRC controller is designed.By comparing with PID controller,the control effect of ADRC is analyzed after the system is disturbed.Secondly,for the coupling of tracking performance and anti-interference performance in linear active disturbance rejection controller(LADRC),the decoupled linear active disturbance rejection controller(DLADRC)is designed.Through the simulation of the above two controllers,the effectiveness of the DLADRC is verified.Then,aiming at the problem that DLADRC algorithm has limited suppression effect on periodic disturbance,repetitive control(RC)and DLADRC are combined and applied to PMSM current loop control to solve the periodic disturbance problem.After the stability analysis,the simulation analysis of the algorithm are carried out to verify the advantages of the improved controller in dynamic response and antidisturbance performance.Finally,after the theoretical derivation and simulation verification,the experimental platform of PMSM is built with TMS320F28335 chip as the control core.The DLADRC algorithm based on repetitive control is verified by experiments.