Research And Development Of Servo Control Technology Based On Optimized ADRC

With the continuous and rapid development of C hina's industrial automation process,AC permanent magnet synchronous motor(PMSM)servo control system in many areas has been widely used at the same time,its control performance also put forward higher requirements,and the ability of anti disturbance is one of the important indexes to judge t he performance of servo system.There are many disturbing factors in the actual operation of PMSM servo system,the traditional PID control strategy is difficult to achieve high performance servo control.Active Disturbance Rejection Control(ADRC)as a new non-linear robust control technique which does not depend on the exact mathematical model of the object,can automatically compensate the internal disturbances and external disturbances in the system,and has the advantages of strong anti-disturbance ability and fast response speed.Therefore,in this paper,after deeply studying the principle and shortcomings of servo system and ADRC,on the basis of optimizing and improving ADRC,an improved PMSM servo speed control system and a ADRC position servo control system of PMSM are designed based on the optimized ADRC.In the PMSM servo speed system controlled by ADRC,the extended state observer(ESO)is difficult to ensure the estimation accuracy when the disturbance is more and the amplitude variation is large,and the performance of the ordinary model compensation ADRC is limited by the parameter identification precision and the complexity of identification algorithm.In order to solve this problem,after analyzing the principle and deficiency of typical speed loop model compensation ADRC,an optimized model compensation ADRC for PMSM servo system is proposed.By using the second order linear extended state observer(LESO)input with the cross-axis current and the actual rotational speed,the total disturbanc e compensation model is obtained,which is compensated to the ADRC of speed loop,so that the improved model compensates the ESO's observational burden in ADRC is only 9.38% of the compensation.Meanwhile,it can obtain the compensation model in real time and avoid the drawbacks of parameter identification.Simulation and experimental results show that the system has good speed response performance and anti-disturbance ability.Aiming at the requirement of high performance position control for PMSM position servo system,an ADRC position servo control system based on optimized chaotic particle swarm optimization(CPSO)algorithm is designed.Combined with the position loop and velocity loop of the traditional three ring structure,the two order disturbance rejection controller is designed by using the double loop control structure,and the PMSM auto disturbance rejection position servo control system is established.An improved CPSO algorithm was proposed to solve the problem of setting the parameters of the ADRC position controller,which is based on the chaotic cube mapping to initialize the position of the particles,the exponential adaptive non-linear adjustment of the inertia weight and the updating of the particle position between chaos and stability.It used in the 5 parameters of ADRC position controller optimization tuning,optimization accuracy than the standard CPSO increased by 4.6%,involve a combination of position control requirements of the fitness function,the optimization design of PMSM position servo control system,achieved good control effect of the position.Finally,the simulation experiments are carried out,Based on the Matlab platform,the simulation model of PMSM servo speed regulation system based on the improved model compensation ADRC is developed,and the AC servo drive hardware in the loop experimental platform to achieve the algorithm,the performance of the designed speed control system is further verified by experiment.Then the PMSM second-order ADRC position servo system and the improved CPSO algorithm are realized,the simulation results show that the proposed position servo system has fast response speed,the change in position at the rated load is reduced by 50% compared to the standard CPSO optimized parameters,high position control precision,and has strong robustness to the variation of load and motor parameters.