Research On The Speed Control Of Permanent Magnet Synchronous Motor Based On Active Disturbance Rejection Control Technology

Permanent Magnet Synchronous Motor (PMSM), with lots of advantages such as wide speed range, high efficiency, stable running at low speed, brushless and high reliability, has been widely used in precise position speed control systems, energy efficient systems, and other aspects of a wide range of applications. To improve the performance of the speed control, methods are proposed in this paper.This research is based on Vector Control. Firstly, vector transformation and the mathematic model of PMSM are introduced. After the statement of Vector Control and SVPWM, the model of PMSM vector control system in MATLAB is built, whose simulation result proves the effectiveness of Vector Control and SVPWM.Secondly, Active Disturbances Rejection Control (ADRC) and feedforward control technology are adopted in order to solve the problem of the overshoot and anti-disturbances in speed control. This part explains how ADRC works and proposes a way of linearize the ADRC controller, owing to the difficulty in parameters adjustment of ADRC. The simulation shows ADRC controller used in PMSM speed control has better performance than PID controller. Then load torque observer is designed, and the theory of feedforward control is interpreted, in order to reduce the speed fluctuation when load torque changes. As always, the model of feedforward controller is built in MATLAB, and the results conforms that feedforward control is feasible as expected.Thirdly, the PMSM control system is built based on a digital signal processor named TMS320F2812. This paper briefly describes the hardware design and software design of the system, but introduces rotor position detection, speed measurement and current measurement in detail.At last, some experiment results are given and analyzed.