Position Control Of Permanent Magnet Synchronous Servo Motor Based On Active Disturbance Rejection Technology

Permanent magnet synchronous motor(PMSM)has been widely used in the field of small and medium-sized high-precision servo control system because of its high power density and stable output torque.For High-Performance AC servo system,how to effectively suppress various unknown disturbances in the actual operating environment is the key to improve the control performance.In order to improve the anti-interference performance of PMSM position servo system,this paper mainly studies the application of active disturbance rejection control(ADRC)technology in PMSM control system.The main research contents of this paper are as follows:The vector control structure of PMSM and the components and implementation details of ADRC technology are analyzed,which provides a theoretical basis for the application of ADRC technology in PMSM position servo system.Because the traditional ADRC technology using nonlinear control law has the defect of difficult parameter tuning,in order to meet the needs of engineering practice,this paper adopts a parameter tuning method of linear feedback controller of PMSM position servo system based on the principle of maximum phase angle margin.This method has a simple tuning process and can quantify the rapidity and stability of the system from two aspects of open-loop cutoff frequency and phase angle margin.In order to enhance the anti-interference ability of the position servo system,a second-order linear extended state observer is applied in the speed loop to estimate and compensate the interference torque and reduce the speed and angle fluctuation caused by the interference torque.The stability of the designed ADRC is analyzed,and the parameter tuning method of the linear ADRC is given.Through simulation,the speed loop performance and position loop performance of the system before and after the application of ADRC technology are compared,and it is verified that the system has better tracking performance and anti-interference ability after the application of ADRC technology.An experimental platform based on digital signal processing chip TMS320F28379 D is designed.Using the improvement of hardware resources and computing power of F28379 D,the update action of modulation algorithm is advanced to the current control cycle,which greatly reduces the system delay.Under the same switching frequency,the current loop bandwidth can be increased to three times that of the traditional update mode.The ADRC algorithm and PWM module update mode described in this paper are experimentally verified by using the permanent magnet synchronous motor experimental platform.The experimental results show that the ADRC technology can improve the tracking performance and disturbance rejection performance of the permanent magnet synchronous motor position servo system,reduce the system delay,and improve the response speed and stability of the current loop.