基于FOPID+ADRC的永磁同步电机低速控制

永磁同步电机(permanent magnet synchronous motor,PMSM)是一个非线性、多变量、强耦合系统，具有不确定的外部干扰。为了提高其低速运行时的控制精度，采用一种改进自抗扰控制(active disturbance rejection control,ADRC)对其进行控制。首先通过插值法构建一个新的非线性函数来代替ADRC中原有的最优控制函数，使其在原点处更平滑和连续。并将此函数应用于扩张观测器(extended state observer,ESO)，最后将非线性误差反馈率(nonlinear state error feedback,NLSEF)用分阶数比例积分微分(fractional-order proportion integration differentiation,FOPID)代替以提高其动态性能。经SIMULINK仿真结果表明，该控制算法在PMSM低速控制中比传统ADRC具有更快的响应速度和更好的抗干扰能力。

PMSM low speed control based on FOPID+ADRC

Permanent Magnet Synchronous motor is a nonlinear, multi-variable and strongly coupled system with uncertain external interference. In order to improve the control accuracy at low speed, an improved Active Disturbance Rejection control is used to control it. Firstly, a new nonlinear function is constructed by interpolation method to replace the original optimal control function of ADRC, which makes it smoother and more continuous at the origin. And apply this function to extended state observer, Finally, the nonlinear state error feedback is used as fractional-order proportion integration The differentiation is substituted to enhance the dynamic performance. The simulation results of SIMULINK show that the proposed control algorithm has faster response speed and better anti-interference ability than the traditional ADRC in PMSM low speed control.