PMSM伺服系统线性自抗扰控制器的参数整定

Parameters tuning of linear active disturbance rejection controller for PMSM servo system

中文关键词  永磁同步PMSM  PI控制  极点配置  线性自抗扰控制  扰动抑制

英文关键词  PMSM  PI controllers  pole-placement  linear active disturbances rejection controller  disturbance rejection

中文摘要

      当自抗扰控制器在工程中应用时, 控制器性能和参数整定难易决定了其可推广性. 本文阐述了一种将PI控 制器改造为线性自抗扰控制器(LADRC)的方法, 并给出了参数整定规则. 首先, 本文对于永磁同步(PMSM)伺服系 统“位置–速度–电流”三闭环控制建立了“P+P/I+P/I”结构的控制模型, 并通过极点配置的方法将控制器参数整定 转换为位置环和速度环的带宽设计. 其次, 本文将积分(I)替换为线性扩张状态观测器(LESO), 从而将PI控制器改造 为线性自抗扰控制器. 对LESO同样通过极点配置将参数整定转换为LESO对外扰观测的带宽设计. 这样将LADRC 控制器中的7个待整定参数转换为3个物理意义明确的待整定参数, 降低了参数整定难度. 最后本文通过仿真和实验 的方法对控制器的快速性和鲁棒性进行了验证.

英文摘要

      When ADRC (active disturbances rejection controller) is applied in engineering, its generalization is determined by the performance and difficulty of parameters tuning. This paper describes a method to convert PI (proportionalintegral) controller to LADRC (linear active disturbances rejection controller), and provides parameters tuning rules. Firstly, the “P+P/I+P/I” structure control model is established for PMSM (permanent magnet synchronous motor) servo system “position-velocity-current” triple-loop control, and the controller parameters tuning is converted to the bandwidth design of position and velocity loop by pole-placement method. Secondly, integral is replaced by LESO (linear extended state observer), thus PI controller is transformed to LADRC. Parameters tuning of LESO is also converted to the bandwidth design of LESO external disturbance observation through pole-placement. In this way, seven parameters to be tuned in the LADRC controller are converted to three parameters with clear physical meaning, which reduces the difficulty of parameters tuning. Finally, the rapidity and the robustness of the controller are verified by simulation and experiment.