Research Of The PMSM Servo System Based On Active Disturbance Rejection Controller

Servo system is one of the core components of advanced CNC machine and industrial robots.With the development of power electronics technology and modern control technology and digital signal processing technology,AC servo system has gradually replaced DC servo system in many fields.Permanent magnet synchronous motor,with its high efficiency,high power factor,moderate price and so on,is widely used in servo systems.In this paper,a servo system of permanent magnet synchronous motor based on Active Disturbance Rejection Controller(ADRC)technology is applied.The accuracy and disturbance rejection ability of the servo system is improved.Permanent magnet synchronous motor is a complex electromechanical hybrid system,which has a high requirement for the control system,and ADRC is a new type of control technology.It is composed of Tracking-Differentiator,Extended State Observer and Nonlinear Error Feedback,which combines the classic PID controller and modern control theory,is very suitable for the control of servo system.In this paper,the characteristics of the ADRC and the linearization method of ADRC and the parameter configuration process are studied.The number of the parameter of the ADRC is reduced and the tuning process is simplified.Based on the deeply research of the mathematical model of permanent magnet synchronous motor,the uncertainties of the system are found,and ADRC is introduced into the servo system.The uncertainties in the mathematical model of the permanent magnet synchronous motor is extended to a new state and is observed in real time by the Extended State Observer and compensated for the disturbance.On the basis of this,the controller of current loop,velocity loop and position loop of the servo system are designed with the vector control.Modules of the system are modeled in Matlab/Simulink,and the simulation of the servo system is completed.The effectiveness of the strategy is verified.At last,the hardware based on STM32 processor and intelligent power module is designed and the circuit of the driving circuit,current detection circuit and rotor position detection circuit of the system are designed.On the basis of analyzing the demand of the whole system,the software of the system is designed.