Research On Drive System Of The PMSM That Based On Auto Disturbance Rejection Controller

PMSM is widely used in CNC machine tools,with its advantage of high power factor, high efficiency, simple structure, and right price.However, it is also a nonlinear, strong coupling,parameter perturbation and multi-variable system.So that it has higher requirements for the servo-control system’s algorithms and strategies.But the performance of modern control algorithms usually dependent on accurate mathematical model too much and the classic control algorithms are difficult to obtain high servo quality.As a new nonlinear controller,ADRC combines classic PID controller’s advantage and designing methods of modern control theory.In order to improve the ability of PMSM control system’s disturbance rejection and accuracy,I used ADRC in PMSM servo-control system and effectively improved the performance of the servo system.Firstly, based on the definition of the coordinate transformation and voltage space vector,I established the PMSM’s mathematical model in the three-phase stationary coordinated system,the two-phase stationary coordinated system and the two-phase rotating coordinated system.With the method that field-oriented control strategy and using id=0 as the torque current and excitation current’s control mode are used,I built a simulation model of PMSM’s vector control system in the form of speed current double closed-loop control,so that provided a platform to apply the ADRC controller and PI controller in PMSM’s control system.And then, in order to solve the problem that there is contradiction between rapidity and overshoot,poor control accuracy and poor ability of anti-jamming in PID control system,I came up with ADRC technology.Through introducing the structure and working principle of ADRC controller as well as making a series of theoretical analysis and simulation of evidence,I confirmed that ADRC is possible to improve the PMSM control system’s performance in theoretical aspect,so that laid the foundation for computer simulation.Hereafter,in order to verify that ADRC control system has no overshoot, strong ability of anti-interference and high precision in control,I applied ADRC and PI controllers in PMSM AC servo-control system under the environment of MATLAB\ Simulink.And I also did some experiments such as starting without load,starting with load,running with load which was suddenly added,running in the form of acceleration and deceleration as well as running with random load which was suddenly added.The results of simulation showed that the ESO has played a critical role in the system,and effectively reduced the influence of disturbances bought to the system by the way of compensation.Compared with PI controller,ADRC control system not only solved the problem which there is contradiction between rapidity and overshoot,but also the problems which were poor control accuracy and poor ability of anti-jamming solved.Finally,with the work that theoretical analysis and simulation finished,I used TMS320F28335 chip to build an experimental platform which named PMSM servo-control system.I also described the hardware and software’s designing process in detail and compared the experimental waveform which was from different experiment.This study had confirmed that ADRC controller could not only directly replaced PI controller but also better control performance achieved in PMSM’s speed control system.What’s more,this study also had laid a solid foundation for applying the ADRC algorithm in the actual project.