基于自抗扰控制器的交流位置伺服系统

提出一种新颖的基于自抗扰控制器(ADRC)的永磁同步电机(PMSM)位置伺服系统。外环由AD-RC实现位置环调节器,内环由PI调节器实现电流闭环,共同组成新颖的位置伺服系统控制器。ADRC由跟踪微分器(TD)、扩张状态观测器(ESO)和非线性状态误差反馈率(NLSEF)组成。TD通过为目标信号安排合适的过渡过程克服了系统响应中快速性和超调之间的矛盾;ESO精确观测系统的扰动并把扰动作用补偿到ADRC的输出中,提高系统的抗扰动能力;NLSEF实现非线性调节器以提高系统的控制精度。仿真和实验结果表明,该位置伺服系统具有高控制精度、快速响应无超调、强鲁棒性的特点。

AC Position Servo System Based on Active-disturbance Rejection Controller

Based on active-disturbance rejection controller(ADRC) theory,a novel position controller of permanent magnet synchronous motor(PMSM)servo system was presented.The position servo controller is defined as an outer position loop regulated by ADRC and an inner current loop regulated by PI.ADRC is composed of tracking differentiatior(TD),extended state observer(ESO) and nonlinear state error feedback control law(NLSEF).The TD overcomes the contradiction between speediness and overshoot in the responses of the system by providing a transition for reference position.The ESO observes the disturbances and compensates them to enhance the system′ s anti-disturbance capability.The NLSEF implements a nonlinear regulation,which leads to high control precision.High accuracy,speedy response,no overshoot and strong robustness of the position servo system are proved by simulation and experiment results.