PMSM servo system control method based on improved model compensation ADRC

A servo system and improved model technology, applied in control systems, control generators, vector control systems, etc., can solve problems such as difficult to guarantee estimation accuracy, drastic changes, and large amplitude of disturbance items, so as to improve anti-disturbance ability and improve Estimation ability, effect of reducing estimation burden

Active Publication Date: 2016-06-15
WUXI XINJIE ELECTRICAL
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Problems solved by technology

[0005] The present invention aims at the servo control system based on the ADRC controller, the amplitude of the disturbance item estimated by the extended state observer is too large, the change is dr

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  • PMSM servo system control method based on improved model compensation ADRC
  • PMSM servo system control method based on improved model compensation ADRC
  • PMSM servo system control method based on improved model compensation ADRC

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Embodiment Construction

[0035] The present invention will be described in further detail below according to the drawings and embodiments.

[0036] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0037] The structural block diagram of the PMSM servo system control method based on the improved model compensation ADRC provided by the present invention, as figure 1 As shown, on the basis of active disturbance rejection control, the second-order extended state observer of system disturbance is designed, and the disturbance term f of the second-order ESO observation is 0 Compensate the model compensation ESO in the first-order ADRC controller for the speed loop, and remove the known part of the model information in the disturbance compensation item, so that the ESO in the ADRC does not need to estimate al...

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Abstract

The invention discloses a PMSM servo system control method based on an improved model compensation ADRC, aims at the problems that the system disturbance amplitude estimated by an extended state observer is high and changes sharply, estimation precision is difficult to guarantee and obtaining of better control performance of an active disturbance rejection controller is limited, and provides an improved model compensation active disturbance rejection control method. Firstly a second-order extended state observer (ESO) is adopted to observe a total disturbance compensation model of the system, and then the disturbance compensation model is utilized to be compensated to a speed loop active disturbance rejection controller in the design of the speed loop ADRC. According to the method, observation capacity of the ESO for system disturbance can be fully utilized so that the ESO in the ADRC is enabled not to estimate total disturbance quantity, estimation burden of the ESO in the active disturbance rejection controller can be reduced, estimation capacity of the system for total disturbance can be enhanced, compensation capacity of the system for various types of disturbance can be effectively enhanced and robustness and anti-disturbance capability of the system can be enhanced.

Description

technical field [0001] The invention belongs to the technical field of high-precision servo control systems, and in particular relates to a PMSM servo system control method based on improved model compensation ADRC. Background technique [0002] In the high-precision servo system, due to the superior performance of the permanent magnet synchronous motor (PMSM), it is widely used in various industrial fields and high-performance servo systems, and has gradually become the mainstream of the servo system execution motor. However, the permanent magnet synchronous motor is a multivariable, nonlinear, and strongly coupled controlled object. During the actual operation of the servo system, the parameters of the motor body will change. At the same time, there are uncertainties in the load object, mainly including changes in the moment of inertia and load disturbance, etc.; in addition, there are various disturbances in the application environment of the servo system. These disturba...

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Application Information

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IPC IPC(8): H02P21/13H02P21/14
CPCH02P21/13H02P21/14
Inventor 李新黄文俊白瑞林朱渊渤
Owner WUXI XINJIE ELECTRICAL
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