Research On High Performance Permanent Magnet Synchronous Motor Control System Based On Optimized ADRC

Permanent magnet synchronous motor has the characteristics of small size,light weight and simple structure,which is widely used in various servo control systems.Different from the traditional DC motor,permanent magnet synchronous motor,as an AC motor,contains a variety of nonlinear,strong coupling and time-varying uncertainties,which are not conducive to control.At present,the mainstream control system of permanent magnet synchronous motor adopts the vector control structure of inner current loop and outer speed loop.Through Park transform and Clark transform,the original complex AC motor control is simulated into a simple DC motor control mode,which effectively simplifies the control mode of permanent magnet synchronous motor.However,the inherent uncertainties of PMSM such as load uncertainty,variable parameters and unmodeled dynamics of the system have not been solved in traditional vector control systems.To effectively solve the frustration of uncertainty in permanent magnet synchronous motor speed control and optimize the permanent magnet synchronous motor vector control system’s robustness,this paper analyzes the mathematical model of permanent magnet synchronous motor and the lumped uncertain disturbance which is different from system standard,puts forward the novel method that utilize ADRC to replace the traditional PI control.Then the anti-interference ability and noise suppression characteristics of ADRC are analyzed in the frequency domain and the general law of parameters tuning of ADRC is summarized.Based on the contradiction between the disturbance tracking ability and noise suppression existing in the extended state observer(ESO),the core of traditional ADRC,the following two optimization methods are proposed in this paper.(1)The perturbation function of permanent magnet synchronous motor is coupled by neural network and compensated in the equation of the extended state observer,so as to reduce the observation burden of the extended state observer and improve its observation accuracy.(2)A gain adaptive law base on tracking error was designed.Considering the disturbance tracking ability and noise suppression performance of ESO comprehensively,an adaptive strategy for extended state observer is adopted to alleviate the contradiction between ESO’s disturbance tracking and noise amplification.The dual optimization of disturbance rejection and noise suppression performance of PMSM ADRC system was realized.Finally,through simulation,this paper analyzes the performance of the above two optimization methods.By comparing with traditional methods and other advanced methods,the performance of the proposed two methods in term of dynamic characteristics,anti-interference ability and noise sensitivity is comprehensively analyzed and evaluated.The simulation results show that the two optimization schemes proposed in this paper enhance the transient response and anti-interference ability of ADRC to a large extent.In particular,the adaptive disturbance rejection speed controller,which adopts the observation gain adaptive strategy,not only optimizes the robustness of the speed control system,but also reduces the noise sensitivity of the system.It has excellent anti-interference ability and steady state control precision,and effectively improves the dynamic and steady state characteristics of the permanent magnet synchronous motor drive system.