| Permanent magnet synchronous motor(PMSM) has many advantages, such as simple structure, high power factor, high efficiency, high power factor, With the continuous improvement of permanent magnet material properties and deve lopment of power electronic components, Permanent magnet synchronous motors are widely used in a variety of high-performance precision servo field, such as precision-guided weapons servo system, satellite attitude control, and industrial robots, machine tools, printing machinery, textile machinery. It is necessary to lucubrate for high precision servo system of permanent magnet synchronous motor in response speed, control accuracy and system stability precision. For this type of nonlinear, strong coupling parameter perturbations multivariable systems of AC permanent magnet servo motors, This article will introduce the cascade ADRC, and it improves system response speed, static and dynamic performance and immunity effectively.First, the research were introduced from the background and significance, the precision servo were analyzed In the aspect of current situation and development trend, the mathematical model of PMSM were derived, And describes the common control strategies and SVPWM.Secondly, I introduce the various components and principle of ADRC based on the analysis of the advantages and disadvantages of PI. Meanwhile take advantage of ADRC disturbance compensation according to Backstepping ideas, apply ADRC to nonlinear cascade systems, achieve control by multiple low- level ADRC cascade, Simplifies the design of high-order nonlinear system of higher order ADRC better, While addressing the uncertainties, coupling and interference suppression of PMSM nonlinear systems. While provides the cascade control theory of ADRC a detailed exposition and argumentation, finally introduces the principle and design of the algorithm of cascade ADRC.In addition, according servo speed control and structure and control block diagram of position servo system of PMSM, I design cascade ADRC meeting the system based on the mathematical model of PMSM, and build a system simulation model and complete the simulation experiment under the environment of Matlab/Simulink, comparison with conventional PI, and analyze simulation results of PMSM about speed control and positioning and ESO which is ADRC’s core, demonstrate that the proposed method in the paper, make PMSM servo system has a larger increase in the speed of response, accuracy and anti- interference ability.we use Microchip’s dsPIC33FJ64MC506 as main chip for hardware and software design of PMSM precision servo system based on the above theory, including overall structure of hardware, power circuits, the signal detection circuit, driver circuits, main program of software and interrupt service routine, finally, analysis partial experimental results, and laid a solid foundation for the further development of precision servo system. |
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